Author

Ruofei Liu

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Preprint Aug 2026

Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking

This work proposes AdaPT, an Adaptive Motion Planning and Tracking framework that learns professional tennis serving and rally styles directly from broadcast videos, and improves tracking robustness by learning to track randomized execution speeds, while conditioning the planner on a learned motion-speed adapter to mit...

Tao Huang, Ruofei Liu, Xuchen Tang et al. · 0 citations

2026

Model-Free Fixed-Time Sliding Mode Control for Wearable Exoskeletons With Adaptive-Boundary Prescribed Performance

Upper-limb rehabilitation exoskeleton systems are characterized by strong coupling, high nonlinearity, parametric uncertainties, and unknown disturbances. Furthermore, conventional prescribed-performance methods usually impose fixed and strict error constraints during the convergence process, which may limit the flexib...

Jianjun Sun, Ruofei Liu, Xue Li et al. · IEEE Transactions on Automat... · 0 citations

Preprint Aug 2026

StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior

StableMimic is presented, a unified tracker trained beyond the nominal tracking distribution that achieves the lowest errors on all four tracking metrics among five methods and attains the lowest values on six of seven post-fall motion and load measures, supporting improved interaction safety under this protocol.

Weihao Wu, Mingzhe Huang, Ruofei Liu et al. · 0 citations