Shangke Lyu
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View article: Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing Open
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
View article: Research on 3D Object Detection Technology Based on Multimodal Fusion
Research on 3D Object Detection Technology Based on Multimodal Fusion Open
To address the challenge of missed detections of long-distance targets in autonomous driving, this study proposes an enhanced 3D object detection model based on the CenterFusion framework, integrating camera and millimeter-wave radar data.…
View article: UAV Image Object Detection Based on Attention Mechanism and Dilated Convolution
UAV Image Object Detection Based on Attention Mechanism and Dilated Convolution Open
Existing algorithms for unmanned aerial vehicle (UAV) image object detection often face challenges such as low detection accuracy for small objects and missed detections of multi-scale objects. To address these issues, this paper proposes …
View article: Application of YOLOv8 in monocular downward multiple Car Target detection
Application of YOLOv8 in monocular downward multiple Car Target detection Open
Autonomous driving technology is progressively transforming traditional car driving methods, marking a significant milestone in modern transportation. Object detection serves as a cornerstone of autonomous systems, playing a vital role in …
View article: ORL-LDM: Offline Reinforcement Learning Guided Latent Diffusion Model Super-Resolution Reconstruction
ORL-LDM: Offline Reinforcement Learning Guided Latent Diffusion Model Super-Resolution Reconstruction Open
With the rapid advancement of remote sensing technology, super-resolution image reconstruction is of great research and practical significance. Existing deep learning methods have made progress but still face limitations in handling comple…
View article: THE INTEGRATION OF ARTIFICIAL INTELLIGENCE IN ART EDUCATION: A NEW PERSPECTIVE
THE INTEGRATION OF ARTIFICIAL INTELLIGENCE IN ART EDUCATION: A NEW PERSPECTIVE Open
This paper is an application of Artificial Intelligence (AI) in the field of an art education. The innovation is evaluated in terms of enhancing the creative process of how AI technologies can enable personalized learning experiences and b…
View article: Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality Open
Existing quadrupedal locomotion learning paradigms usually rely on extensive domain randomization to alleviate the sim2real gap and enhance robustness. It trains policies with a wide range of environment parameters and sensor noises to per…
View article: ORL-LDM: Offline Reinforcement Learning Guided Latent Diffusion Model Super-Resolution Reconstruction
ORL-LDM: Offline Reinforcement Learning Guided Latent Diffusion Model Super-Resolution Reconstruction Open
With the rapid advancement of remote sensing technology, super-resolution image reconstruction is of great research and practical significance. Existing deep learning methods have made progress but still face limitations in handling comple…
View article: TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control
TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control Open
Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely …
View article: GEVRM: Goal-Expressive Video Generation Model For Robust Visual Manipulation
GEVRM: Goal-Expressive Video Generation Model For Robust Visual Manipulation Open
With the rapid development of embodied artificial intelligence, significant progress has been made in vision-language-action (VLA) models for general robot decision-making. However, the majority of existing VLAs fail to account for the ine…
View article: Application of YOLOv8 in Monocular Downward Multiple Car Target Detection
Application of YOLOv8 in Monocular Downward Multiple Car Target Detection Open
Autonomous driving technology is progressively transforming traditional car driving methods, marking a significant milestone in modern transportation. Object detection serves as a cornerstone of autonomous systems, playing a vital role in …
View article: A Respiratory Motion Compensation Method for Robotic-Assisted Laminectomy
A Respiratory Motion Compensation Method for Robotic-Assisted Laminectomy Open
View article: QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning
QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning Open
This paper addresses the inherent inference latency challenges associated with deploying multimodal large language models (MLLM) in quadruped vision-language-action (QUAR-VLA) tasks. Our investigation reveals that conventional parameter re…
View article: CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Prediction
CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Prediction Open
In robotic visuomotor policy learning, diffusion-based models have achieved significant success in improving the accuracy of action trajectory generation compared to traditional autoregressive models. However, they suffer from inefficiency…
View article: The Application of Generative AI in Virtual Reality and Augmented Reality
The Application of Generative AI in Virtual Reality and Augmented Reality Open
This study explores the historical development of Virtual Reality (VR) and Augmented Reality (AR) technologies and their applications in various fields, such as education, tourism, and consumer experiences. Through a review of relevant lit…
View article: GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot
GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot Open
Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose Ge…
View article: Continual Reinforcement Learning for Quadruped Robot Locomotion
Continual Reinforcement Learning for Quadruped Robot Locomotion Open
The ability to learn continuously is crucial for a robot to achieve a high level of intelligence and autonomy. In this paper, we consider continual reinforcement learning (RL) for quadruped robots, which includes the ability to continuousl…
View article: QUAR-VLA: Vision-Language-Action Model for Quadruped Robots
QUAR-VLA: Vision-Language-Action Model for Quadruped Robots Open
The important manifestation of robot intelligence is the ability to naturally interact and autonomously make decisions. Traditional approaches to robot control often compartmentalize perception, planning, and decision-making, simplifying s…
View article: Unlock Reliable Skill Inference for Quadruped Adaptive Behavior by Skill Graph
Unlock Reliable Skill Inference for Quadruped Adaptive Behavior by Skill Graph Open
Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill learn…
View article: A unified control framework for human-robot interaction
A unified control framework for human-robot interaction Open
Co-existence of human and robot in the same workspace requires the robot to perform robot tasks such as trajectory tracking and also interaction tasks such as keeping a safe distance from human. According to various human-robot interaction…