arXiv subjects

Wanyue Li

Publications and source records attributed to Wanyue Li.

8 recordsLinked to original sources

arXiv2026

MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces

Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetary exploration. While bipedal robots hold immense potential, their locomotion on deformable surfaces remains limited as current simulators fail to capture the spatiotemporal heterogeneity of such yielding substrates. We present MILD, featuring a physics-grounded discrete-element contact solver that accurately simulates spatially varying foot-terrain interactions. Complementing this model, we train a terrain-aware locomotion controller via deep reinforcement learning with latent modulation and proprioceptive estimation. Quantitative comparisons against state-of-the-art methods show our approach generates more diverse and realistic contact scenarios during training, resulting in controllers that exhibit natural adaptation on real deformable surfaces. Through hardware experiments, we demonstrate the system's capability for online terrain identification and adaptation across a wide range of surface stiffness.

cs.RO↗

arXiv2026

Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors

We propose a unified reinforcement learning framework that enables a single policy to perform walking, running, and fall recovery on the Unitree G1 humanoid robot, validated on physical hardware without any explicit mode-switching command at deployment. The framework extends Adversarial Motion Priors (AMP) by replacing the conventional global reference distribution with a state-dependent gate that routes each training transition to one of two discriminators: a dedicated recovery discriminator and a velocity-conditioned locomotion discriminator that jointly covers walking and running. The gate is defined by a single fixed threshold on projected gravity: the recovery discriminator is activated when body tilt exceeds approximately $37^\circ$ from vertical ($|g_z+1|>0.6$); otherwise the locomotion discriminator is used, with the normalized commanded velocity serving as a condition that selects the appropriate reference trajectory between walk and run clips. Only three LAFAN1 reference clips are required to regularize the complete behavior set. At deployment, a single frozen ONNX policy executes at 50\,Hz with no runtime mode logic; hardware experiments demonstrate successful recovery from both prone and supine falls and smooth walk-to-run transitions under the same controller.

cs.RO↗

arXiv2026

Learning Human-Like Badminton Skills for Humanoid Robots

Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manipulation, this task demands a seamless integration of explosive whole-body coordination and precise, timing-critical interception. While recent advances have achieved lifelike motion mimicry, bridging the gap between kinematic imitation and functional, physics-aware striking without compromising stylistic naturalness is non-trivial. To address this, we propose Imitation-to-Interaction, a progressive reinforcement learning framework designed to evolve a robot from a "mimic" to a capable "striker." Our approach establishes a robust motor prior from human data, distills it into a compact, model-based state representation, and stabilizes dynamics via adversarial priors. Crucially, to overcome the sparsity of expert demonstrations, we introduce a manifold expansion strategy that generalizes discrete strike points into a dense interaction volume. We validate our framework through the mastery of diverse skills, including lifts and drop shots, in simulation. Furthermore, we demonstrate the first zero-shot sim-to-real transfer of anthropomorphic badminton skills to a humanoid robot, successfully replicating the kinetic elegance and functional precision of human athletes in the physical world.

cs.RO↗

arXiv2025

Like Playing a Video Game: Spatial-Temporal Optimization of Foot Trajectories for Controlled Football Kicking in Bipedal Robots

Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control methods or reinforcement learning (RL) approaches, exhibit significant limitations. Model predictive control (MPC) is a prevalent approach for ordinary quadruped and biped robots. While MPC has demonstrated advantages in legged robots, existing studies often oversimplify the leg swing progress, relying merely on simple trajectory interpolation methods. This severely constrains the foot's environmental interaction capability, hindering tasks such as ball kicking. This study innovatively adapts the spatial-temporal trajectory planning method, which has been successful in drone applications, to bipedal robotic systems. The proposed approach autonomously generates foot trajectories that satisfy constraints on target kicking position, velocity, and acceleration while simultaneously optimizing swing phase duration. Experimental results demonstrate that the optimized trajectories closely mimic human kicking behavior, featuring a backswing motion. Simulation and hardware experiments confirm the algorithm's efficiency, with trajectory planning times under 1 ms, and its reliability, achieving nearly 100 % task completion accuracy when the soccer goal is within the range of -90{\deg} to 90{\deg}.

cs.RO↗

arXiv2025

RedNote-Vibe: A Dataset for Capturing Temporal Dynamics of AI-Generated Text in Lifestyle Social Media

We introduce RedNote-Vibe, a dataset spanning five years (pre-LLM to July 2025) sourced from lifestyle platform RedNote (Xiaohongshu), capturing the temporal dynamics of content creation and is enriched with comprehensive engagement metrics. To address the detection challenge posed by RedNote-Vibe, we propose the \textbf{PsychoLinguistic AIGT Detection Framework (PLAD)}. Grounded in cognitive psychology, PLAD leverages deep psychological signatures for robust and interpretable detection. Our experiments demonstrate PLAD's superior performance and reveal insights into content dynamics: (1) human content continues to outperform AI in emotionally resonant domains; (2) AI content is more homogeneous and rarely produces breaking posts, however, this human-AI gap narrows for arousing higher-investment interactions; and (3) most interestingly, a small group of users who strategically utilize AI tools can achieve higher engagement outcomes. The dataset is available at https://github.com/ydli-ai/RedNote-Vibe

cs.CL↗

arXiv2025

MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping

Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, running, and jumping. However, existing blind locomotion controllers often struggle to ensure safety and efficient traversal through risky gap terrains, which are typically highly complex, requiring robots to perceive terrain information and select appropriate footholds during locomotion accurately. Meanwhile, existing perception-based controllers still present several practical limitations, including a complex multi-sensor deployment system and expensive computing resource requirements. This paper proposes a DRL controller named MAstering Risky Gap Terrains (MARG), which integrates terrain maps and proprioception to dynamically adjust the action and enhance the robot's stability in these tasks. During the training phase, our controller accelerates policy optimization by selectively incorporating privileged information (e.g., center of mass, friction coefficients) that are available in simulation but unmeasurable directly in real-world deployments due to sensor limitations. We also designed three foot-related rewards to encourage the robot to explore safe footholds. More importantly, a terrain map generation (TMG) model is proposed to reduce the drift existing in mapping and provide accurate terrain maps using only one LiDAR, providing a foundation for zero-shot transfer of the learned policy. The experimental results indicate that MARG maintains stability in various risky terrain tasks.

cs.RO↗

arXiv2025

Citrus: Leveraging Expert Cognitive Pathways in a Medical Language Model for Advanced Medical Decision Support

Large language models (LLMs), particularly those with reasoning capabilities, have rapidly advanced in recent years, demonstrating significant potential across a wide range of applications. However, their deployment in healthcare, especially in disease reasoning tasks, is hindered by the challenge of acquiring expert-level cognitive data. In this paper, we introduce Citrus, a medical language model that bridges the gap between clinical expertise and AI reasoning by emulating the cognitive processes of medical experts. The model is trained on a large corpus of simulated expert disease reasoning data, synthesized using a novel approach that accurately captures the decision-making pathways of clinicians. This approach enables Citrus to better simulate the complex reasoning processes involved in diagnosing and treating medical conditions. To further address the lack of publicly available datasets for medical reasoning tasks, we release the last-stage training data, including a custom-built medical diagnostic dialogue dataset. This open-source contribution aims to support further research and development in the field. Evaluations using authoritative benchmarks such as MedQA, covering tasks in medical reasoning and language understanding, show that Citrus achieves superior performance compared to other models of similar size. These results highlight Citrus potential to significantly enhance medical decision support systems, providing a more accurate and efficient tool for clinical decision-making.

cs.AI↗

arXiv2020

Generating Fundus Fluorescence Angiography Images from Structure Fundus Images Using Generative Adversarial Networks

Fluorescein angiography can provide a map of retinal vascular structure and function, which is commonly used in ophthalmology diagnosis, however, this imaging modality may pose risks of harm to the patients. To help physicians reduce the potential risks of diagnosis, an image translation method is adopted. In this work, we proposed a conditional generative adversarial network(GAN) - based method to directly learn the mapping relationship between structure fundus images and fundus fluorescence angiography images. Moreover, local saliency maps, which define each pixel's importance, are used to define a novel saliency loss in the GAN cost function. This facilitates more accurate learning of small-vessel and fluorescein leakage features.

eess.IV↗