arXiv:2608. 05684v1 Announce Type: cross Abstract: Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoeba-inspired autonomous walking robot.
By Hyoto Yamaguchi, Zenji Yatabe, Seiya Kasai
arXiv:2603. 12408v2 Announce Type: replace-cross Abstract: Motion imitation learning (IL) is increasingly used in robotics and human gait modeling, yet its ability to recover biomechanically consistent joint moments without explicit kinetic information remains unclear.
By Xinyi Liu, Jangwhan Ahn, Edgar Lobaton, Jennie Si, He Huang
arXiv:2603. 12408v3 Announce Type: replace-cross Abstract: Motion imitation learning (IL) is increasingly used in robotics and human gait modeling, yet its ability to recover biomechanically consistent joint moments without explicit kinetic information remains unclear.
By Xinyi Liu, Jangwhan Ahn, Edgar Lobaton, Jennie Si, He Huang
The paper introduces a wireless smart insole that uses 16 pressure sensors and a six‑axis IMU to detect sitting, standing, walking, and unstable walking. Data from 15 healthy adults were processed in overlapping windows and evaluated with participant‑independent cross‑validation, achieving macro‑F1 scores of 0.954–0.980 using Histogram‑Based Gradient Boosting. A compact 1D‑CNN performed similarly but did not significantly outperform the gradient‑boosting model.
By Edwin Rios, Antony Garcia, Fengpei Yuan, Xinming Huang
arXiv:2606. 15896v1 Announce Type: cross Abstract: Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specification, operational limits, gait preference, and terrain adaptation within a single optimization objective.
By Loukas Kordos, Leonard T. Franz, Simon Rappenecker, Oliver Hausdoerfer, Angela P. Schoellig, Pavel Kolev, Georg Martius
Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors.