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Yi-Xuan Shen

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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. · 0 citations

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