C. Zhang w/o shitpost

Our work on generalized legged locomotion published in Science Robotics

www.science.org/doi/10.1126/...

adaptive-safe-locomotion.github.io

It might be a bit late but here's our work in L4DC 2025 on bridging agility, safety, and adaptivity.

Compared to prior work (ABS) that safeguards agile locomotion, this one further explicitly estimates the change in dynamics and does adaptive shielding.

adaptive-safe-locomotion.github.io

Jemin is literally the one that solves every big problem for legged robots.

Even wilder that our lab is still using the infra he left 7 years ago to publish SciRo-level papers. His new lab also keeps publishing big works, since the first year he started the lab.

discord.gg/EudCEAQtCQ

New link

Saved my experience!

What should I do for a change?

Anyone else feel that academic people are not very active here, and even the following feed are always filled with anti-Musk/Trump political posts?

Hacking PPO is all you need?

discord.gg/Xfxau8me

we just initiated a discord server on robot locomotion because we don't know any. Welcome to join!

Starting my PhD soon at ETHz... on I don't know what will happen but it's always on autonomy and legged robots.

Yeah that one everyone I know got pissd off

Ahh everyone saw that

The key to achieving horizon generalization is *planning invariance*. A policy is planning invariant if decomposing tasks into simpler subtasks doesn't improve performance. We prove planning invariance can enable horizon generalization. 3/

Very happy to show that we can do RL finetuning on 405B models with open-source code, beat Llama 405B instruct with their base model, and beat DeepSeek V3 too. Enjoy building off this teams hard work.

Here's Tulu 3 405B. A holiday present from @hamishivi.bsky.social @vwxyzjn.bsky.social and team.

GitHub - zita-ch/bipedal-robot-learning-collection: Collection of high-quality robo learning papers for bipedal robots. Collection of high-quality robo learning papers for bipedal robots. - zita-ch/bipedal-robot-learning-collection

Collection of biped locomotion+ RL papers

github.com/zita-ch/bipe...

Will (try to) begin work in 2025 (let's don't talk about exact dates).

I'd say that line of work is really impressive even when they don't need a legged robot. Could be more impressive if they don't opt for the spot.

PoM: Efficient Image and Video Generation with the Polynomial Mixer Diffusion models based on Multi-Head Attention (MHA) have become ubiquitous to generate high quality images and videos. However, encoding an image or a video as a sequence of patches results in costly...

🍏 New preprint alert! 🍏
PoM: Efficient Image and Video Generation with the Polynomial Mixer
arxiv.org/abs/2411.12663
This is my latest "summer project" and it was so big I had to call in reinforcements (Thanks @nicolasdufour.bsky.social)

TL;DR Transformers are for boomers, welcome to the future
🧵👇

Nothing different from being a PhD except I have no salary rn

These are gifs but won't autoplay. This new software seems to still have some bugs

Self intro with videos

I'm a Ms student (2022fall-2025spring) in #robotics at ETH Zurich.

I work on control and navigation for legged robots (quadruped, humanoid, wheeled-legged).

My focus is learning for performant and reliable legged systems.

My website: zita-ch.github.io

Yeeh field roboticist here, all papers learning tho