arXiv subjects

Fuzhi Yang

Publications and source records attributed to Fuzhi Yang.

6 recordsLinked to original sources

arXiv2026

Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report

The motion controller is one of the most fundamental modules in embodied intelligence systems. Driven by large-scale human motion-capture data and the motion-tracking paradigm, humanoid control has achieved remarkable progress in recent years. However, migrating this recipe to the quadrupedal setting is far less straightforward: animal motion data is scarcer and harder to capture at scale than human data, and cross-embodiment retargeting remains fragile. We present ABot-C0, a generalist motion-control system for quadruped robots that establishes three complementary behavior foundations: a scalable multi-source motion-data pipeline, robust policy learning across motion tracking, locomotion, and scene interaction, and a unified deployment stack for reliable real-world operation. Fundamentally, we construct a data pyramid through conditional video-generation synthesis, annotated motion capture, teleoperation, and human design, producing 16,074 physically feasible motion clips as the data foundation for diverse motion-learning demands. With large-scale motion data, a Flow-Matching generalist policy demonstrates, for the first time, a scaling law for quadruped motion tracking: performance improves consistently as training scales up, with zero-shot capability to track unseen motions. We then go a step further toward robust all-terrain locomotion by adopting a three-stage privileged-to-perceptive framework with temporal LiDAR memory and terrain-predictive supervision. Collectively, these components form a motion generalist that coordinates multi-policy execution, smooth behavior transitions, energy-efficient control, and safety mechanisms for real-world deployment. Extensive experiments on urban-terrain autonomous navigation and companion-style multimodal interaction demonstrate that quadruped robots can move beyond functional demos toward product-level behavioral intelligence.

cs.RO↗

arXiv2026

QuadFM: Foundational Text-Driven Quadruped Motion Dataset for Generation and Control

Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressive behaviors, and rich language semantics-essential for agile, intuitive human-robot interaction. Current quadruped motion datasets are limited to a few mocap primitives (e.g., walk, trot, sit) and lack diverse behaviors with rich language grounding. To bridge this gap, we introduce Quadruped Foundational Motion (QuadFM) , the first large-scale, ultra-high-fidelity dataset designed for text-to-motion generation and general motion control. QuadFM contains 11,784 curated motion clips spanning locomotion, interactive, and emotion-expressive behaviors (e.g., dancing, stretching, peeing), each with three-layer annotation-fine-grained action labels, interaction scenarios, and natural language commands-totaling 35,352 descriptions to support language-conditioned understanding and command execution. We further propose Gen2Control RL, a unified framework that jointly trains a general motion controller and a text-to-motion generator, enabling efficient end-to-end inference on edge hardware. On a real quadruped robot with an NVIDIA Orin, our system achieves real-time motion synthesis (<500 ms latency). Simulation and real-world results show realistic, diverse motions while maintaining robust physical interaction. The dataset will be released at https://github.com/GaoLii/QuadFM.

cs.RO↗

arXiv2022

Degradation-Guided Meta-Restoration Network for Blind Super-Resolution

Blind super-resolution (SR) aims to recover high-quality visual textures from a low-resolution (LR) image, which is usually degraded by down-sampling blur kernels and additive noises. This task is extremely difficult due to the challenges of complicated image degradations in the real-world. Existing SR approaches either assume a predefined blur kernel or a fixed noise, which limits these approaches in challenging cases. In this paper, we propose a Degradation-guided Meta-restoration network for blind Super-Resolution (DMSR) that facilitates image restoration for real cases. DMSR consists of a degradation extractor and meta-restoration modules. The extractor estimates the degradations in LR inputs and guides the meta-restoration modules to predict restoration parameters for different degradations on-the-fly. DMSR is jointly optimized by a novel degradation consistency loss and reconstruction losses. Through such an optimization, DMSR outperforms SOTA by a large margin on three widely-used benchmarks. A user study including 16 subjects further validates the superiority of DMSR in real-world blind SR tasks.

cs.CV↗

arXiv2020

Learning Texture Transformer Network for Image Super-Resolution

We study on image super-resolution (SR), which aims to recover realistic textures from a low-resolution (LR) image. Recent progress has been made by taking high-resolution images as references (Ref), so that relevant textures can be transferred to LR images. However, existing SR approaches neglect to use attention mechanisms to transfer high-resolution (HR) textures from Ref images, which limits these approaches in challenging cases. In this paper, we propose a novel Texture Transformer Network for Image Super-Resolution (TTSR), in which the LR and Ref images are formulated as queries and keys in a transformer, respectively. TTSR consists of four closely-related modules optimized for image generation tasks, including a learnable texture extractor by DNN, a relevance embedding module, a hard-attention module for texture transfer, and a soft-attention module for texture synthesis. Such a design encourages joint feature learning across LR and Ref images, in which deep feature correspondences can be discovered by attention, and thus accurate texture features can be transferred. The proposed texture transformer can be further stacked in a cross-scale way, which enables texture recovery from different levels (e.g., from 1x to 4x magnification). Extensive experiments show that TTSR achieves significant improvements over state-of-the-art approaches on both quantitative and qualitative evaluations.

cs.CV↗

arXiv2020

NTIRE 2020 Challenge on Real-World Image Super-Resolution: Methods and Results

This paper reviews the NTIRE 2020 challenge on real world super-resolution. It focuses on the participating methods and final results. The challenge addresses the real world setting, where paired true high and low-resolution images are unavailable. For training, only one set of source input images is therefore provided along with a set of unpaired high-quality target images. In Track 1: Image Processing artifacts, the aim is to super-resolve images with synthetically generated image processing artifacts. This allows for quantitative benchmarking of the approaches \wrt a ground-truth image. In Track 2: Smartphone Images, real low-quality smart phone images have to be super-resolved. In both tracks, the ultimate goal is to achieve the best perceptual quality, evaluated using a human study. This is the second challenge on the subject, following AIM 2019, targeting to advance the state-of-the-art in super-resolution. To measure the performance we use the benchmark protocol from AIM 2019. In total 22 teams competed in the final testing phase, demonstrating new and innovative solutions to the problem.

eess.IV↗

arXiv2020

NTIRE 2020 Challenge on Perceptual Extreme Super-Resolution: Methods and Results

This paper reviews the NTIRE 2020 challenge on perceptual extreme super-resolution with focus on proposed solutions and results. The challenge task was to super-resolve an input image with a magnification factor 16 based on a set of prior examples of low and corresponding high resolution images. The goal is to obtain a network design capable to produce high resolution results with the best perceptual quality and similar to the ground truth. The track had 280 registered participants, and 19 teams submitted the final results. They gauge the state-of-the-art in single image super-resolution.

eess.IV↗