Bingquan Li | Searcharxiv

arXiv2026

PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing

Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper, we present PolyMap, a perception-based locomotion planning framework for humanoid robots to climb stairs. Our core idea is to build a real-time polygonal staircase plane semantic map, followed by a footstep planar using these polygonal plane segments. These plane segmentation and visual odometry are done by multi-sensor fusion(LiDAR, RGB-D camera and IMUs). The proposed framework is deployed on a NVIDIA Orin, which performs 20-30 Hz whole-body motion planning output. Both indoor and outdoor real-scene experiments indicate that our method is efficient and robust for humanoid robot stair climbing.

cs.RO↗

arXiv2025

LaERC-S: Improving LLM-based Emotion Recognition in Conversation with Speaker Characteristics

Emotion recognition in conversation (ERC), the task of discerning human emotions for each utterance within a conversation, has garnered significant attention in human-computer interaction systems. Previous ERC studies focus on speaker-specific information that predominantly stems from relationships among utterances, which lacks sufficient information around conversations. Recent research in ERC has sought to exploit pre-trained large language models (LLMs) with speaker modelling to comprehend emotional states. Although these methods have achieved encouraging results, the extracted speaker-specific information struggles to indicate emotional dynamics. In this paper, motivated by the fact that speaker characteristics play a crucial role and LLMs have rich world knowledge, we present LaERC-S, a novel framework that stimulates LLMs to explore speaker characteristics involving the mental state and behavior of interlocutors, for accurate emotion predictions. To endow LLMs with this knowledge information, we adopt the two-stage learning to make the models reason speaker characteristics and track the emotion of the speaker in complex conversation scenarios. Extensive experiments on three benchmark datasets demonstrate the superiority of LaERC-S, reaching the new state-of-the-art.

cs.CL↗