Author

Hong Zheng

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Preprint Oct 2026

Understanding Data Augmentation under Label Noise

Data augmentation (DA) has become a fundamental component of modern machine learning systems and is widely regarded as an effective strategy for improving robustness and generalization. Despite its empirical success, the theoretical impact of DA under label noise remains poorly understood. In this work, we first theore...

Hong Zheng, Fei Teng · 0 citations

Preprint Sep 2026

OmniMimic: Dynamics-completed Motion Augmentation for Multi-style Omnidirectional Quadruped Locomotion

Animal demonstrations provide quadruped robots with natural and distinctive gait styles that are difficult to specify through hand-crafted rewards. However, their narrow directional coverage leaves little style-consistent supervision for backward, lateral, and turning commands. We present OmniMimic, a training framewor...

Sheng Wu, Guo-Qiang Zhao, Zhe Yang et al. · 0 citations