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Author

Yue-Qi Zhang

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Preprint Sep 2026

MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains

A Multimodal Diffusion Policy (MulDP) is proposed that integrates visual perception with robot proprioception and goal information to generate temporally coherent and anticipatory navigation velocity commands, tightly coupling perception with embodied control to enable robust autonomous navigation.

Kang-Mai Hu, Yue-Qi Zhang, Peng Zhai et al. · 1 citation
Sep 2026

QLIMB: End-to-End Whole-Body Control for Quadruped Loco-Manipulation and Balance on Complex Terrains

Equipping quadruped robots with manipulators significantly expands their operational workspace. However, for small-scale systems constrained by limited joint torques, achieving robust whole-body control on unstructured terrains remains a substantial challenge. Existing learning-based methods often face an inherent trad...

Quancheng Qian, Peng Zhai, Zonghao Zhang et al. · 0 citations

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