Author

Rong-Qiang Zhao

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Conference Open access Sep 2026

Walking on Ice: Adaptive Gait Control of Humanoid Robots Based on Visual Prediction and Proprioceptive Estimation for Variable Friction Environments

This work introduces a VLM-based friction predictor that enables the policy to take anticipatory actions before friction changing, thereby addressing variable-friction scenarios and provides a robust and efficient gait control framework for stable locomotion in real-world scenarios with dynamic friction conditions.

Yi-Xuan Shen, Rong-Qiang Zhao, Ruo-Nan Li et al. · Proceedings of the Thirty-Fi... · 0 citations

#machine learning Preprint Sep 2026

SAGE: Subpopulation-Aware Generative Enhancement for Mitigating Spurious Correlations

Subpopulation-Aware Generative Enhancement (SAGE), a two-stage generative augmentation framework, is introduced, using cluster-derived sub-labels and class labels to fine-tune a conditional generative model and text encoder, generating targeted synthetic data to fill underrepresented regions in the training set and con...

Yi-Ming Luo, Rong-Qiang Zhao, Jie Liu · 0 citations