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Sponsored AI Networking Cookbook: Practical recipes for AI-assisted network automation and development AI Networking Cookbook: Practical recipes for AI-assisted network automation and development

Author

Yifang Zhang

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Conference Open access Jul 2026

A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby...

Jingcheng Jiang, Yifang Zhang, N. Tsagarakis · 0 citations
Preprint Aug 2026

Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

A unified framework that combines centralized training with decentralized execution (CTDE) and a Hybrid Reward Architecture (HRA) is introduced that enables multiple actors to share a centralized multi-head critic and substantially improves both sample efficiency and policy performance.

Changhao Li, Yifang Zhang, Heng Zhang et al. · 0 citations

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