arXiv subjects

Wenhao Cui

Publications and source records attributed to Wenhao Cui.

5 recordsLinked to original sources

arXiv2026

SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer

Humanoid soccer is a challenging testbed for dynamic whole-body control, requiring robots to coordinate balance, locomotion, object interaction, and skill switching over long horizons. Existing humanoid sports methods often rely on task-specific multi-stage pipelines, making it difficult to jointly learn and compose multiple object-interactive skills within a single deployable policy. To address this, we present SkillX, a unified reinforcement learning framework that learns and composes multiple atomic soccer skills through a single command-conditioned policy. SkillX integrates three core designs: skill-specific adversarial motion priors, skill-specific critics, and an object-aware temporal encoder, enabling the robot to execute atomic skills and transition among them such as dribbling, trapping, and shooting. Experiments in simulation and on a real Noetix E1 humanoid demonstrate robust multi-skill execution, long-horizon skill composition, and successful sim-to-real deployment.

cs.RO↗

arXiv2026

Estimating Precision Matrices for High-Dimensional Interval-Valued Data

In the field of statistical learning and data analysis, estimating precision matrices (i.e., the inverse of covariance matrices) is a critical task, particularly for understanding dependency structures among variables. However, traditional methods often fall short when dealing with high-dimensional interval-valued data, where each observation is represented as an interval rather than a single point. This paper proposes a novel framework for estimating precision matrices in such contexts, addressing the unique challenges posed by the interval nature of the data. Specifically, we assume that the upper and lower bounds of the intervals share the same conditional dependency structure, and then formulate the interval graphical lasso optimization objective to estimate the precision matrix. At the optimization level, we provide an efficient computational approach, while at the theoretical level, we prove the sparsity and consistency of the estimator. Experimental results on simulated studies and real data applications demonstrate the superiority of the proposed method in terms of estimation precision and interpretability.

stat.ME↗

arXiv2026

Covariance Matrix Estimation for High-Dimensional Interval-Valued Data with Positive Definiteness

In the realm of high-dimensional data analysis, the estimation of covariance matrices is a fundamental task, and this holds true for interval-valued data as well. However, there is no unified definition for the covariance matrix of interval-valued data, let alone established estimation methods in high-dimensional settings. This paper presents a novel approach to estimating covariance matrices for high-dimensional interval-valued data while ensuring positive definiteness. We begin by assuming that the upper and lower bounds of interval-valued variables share the same dependency structure. Based on this assumption, we extend the classical soft-thresholding covariance matrix estimator to the interval-valued scenario, referred to as the Interval-valued Soft-Thresholding (IST) estimator. Subsequently, to ensure the positive definiteness of the estimator, we impose a positive definiteness constraint on the IST estimator. We derive an alternating direction method to solve the proposed problem and establish its convergence. Under some very mild conditions, we develop a non-asymptotic statistical theory for the proposed estimator. Simulation studies and applications to high-frequency financial data from the CSI 300 Index demonstrated the effectiveness of the proposed estimator.

stat.ME↗

arXiv2025

Random Subset Averaging

We propose a new ensemble prediction method, Random Subset Averaging (RSA), tailored for settings with many covariates, particularly in the presence of strong correlations. RSA constructs candidate models via binomial random subset strategy and aggregates their predictions through a two-round weighting scheme, resulting in a structure analogous to a two-layer neural network. All tuning parameters are selected via cross-validation, requiring no prior knowledge of covariate relevance. We establish the asymptotic optimality of RSA under general conditions, allowing the first-round weights to be data-dependent, and demonstrate that RSA achieves a lower finite-sample risk bound under orthogonal design. Simulation studies demonstrate that RSA consistently delivers superior and stable predictive performance across a wide range of sample sizes, dimensional settings, sparsity levels and correlation structures, outperforming conventional model selection and ensemble learning methods. An empirical application to financial return forecasting further illustrates its practical utility.

stat.ME↗

arXiv2025

Think on your feet: Seamless Transition between Human-like Locomotion in Response to Changing Commands

While it is relatively easier to train humanoid robots to mimic specific locomotion skills, it is more challenging to learn from various motions and adhere to continuously changing commands. These robots must accurately track motion instructions, seamlessly transition between a variety of movements, and master intermediate motions not present in their reference data. In this work, we propose a novel approach that integrates human-like motion transfer with precise velocity tracking by a series of improvements to classical imitation learning. To enhance generalization, we employ the Wasserstein divergence criterion (WGAN-div). Furthermore, a Hybrid Internal Model provides structured estimates of hidden states and velocity to enhance mobile stability and environment adaptability, while a curiosity bonus fosters exploration. Our comprehensive method promises highly human-like locomotion that adapts to varying velocity requirements, direct generalization to unseen motions and multitasking, as well as zero-shot transfer to the simulator and the real world across different terrains. These advancements are validated through simulations across various robot models and extensive real-world experiments.

cs.RO↗