Author

Ruo-Nan Li

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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

Preprint Sep 2026

CoFiE: Coarse-to-Fine Evidence Selection for Efficient Streaming Video Understanding

Streaming video understanding requires Vision Language Models (VLLMs) to process growing video streams and answer user questions under tight latency constraints. Existing methods improve efficiency through token pruning and memory-bank schemes, but mainly reduce visual tokens after visual encoding. Consequently, downst...

Jing-Chi Jiang, Yi-Ran Ling, Ruo-Nan Li et al. · 0 citations