Yifei Yan

Yifei Yan, Yankai Liao, Linqi Ye

Deploying a humanoid robot to manipulate a new object has traditionally required one to two days of effort: data collection, manual annotation, 3D model acquisition, and model training. This paper presents an end-to-end rapid deployment pipeline that integrates three foundation-model components to shorten the onboarding cycle for a new object to approximately 30 minutes: (i) Roboflow-based automatic annotation to assist in training a YOLOv8 object detector; (ii) 3D reconstruction based on Meta SAM 3D, which eliminates the need for a dedicated laser scanner; and (iii) zero-shot 6-DoF pose tracking based on FoundationPose, using the SAM~3D-generated mesh directly as the template. The estimated pose drives a Unity-based inverse kinematics planner, whose joint commands are streamed via UDP to a Unitree~G1 humanoid and executed through the Unitree SDK. We demonstrate detection accuracy of mAP@0.5 = 0.995, pose tracking precision of $σ< 1.05$ mm, and successful grasping on a real robot at five positions within the workspace. We further verify the generality of the pipeline on an automobile-window glue-application task. The results show that combining foundation models for perception with everyday imaging devices (e.g., smartphones) can substantially lower the deployment barrier for humanoid manipulation tasks.

Yifei Yan, Linqi Ye

As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing approaches either rely on complex topology adjustments in Mixture-of-Experts (MoE) models or require training extremely large-scale models, making lightweight deployment difficult. To address this, we propose Tree Learning, a multi-skill continual learning framework for humanoid robots. The framework adopts a root-branch hierarchical parameter inheritance mechanism, providing motion priors for branch skills through parameter reuse to fundamentally prevent catastrophic forgetting. A multi-modal feedforward adaptation mechanism combining phase modulation and interpolation is designed to support both periodic and aperiodic motions. A task-level reward shaping strategy is also proposed to accelerate skill convergence. Unity-based simulation experiments show that, in contrast to simultaneous multi-task training, Tree Learning achieves higher rewards across various representative locomotion skills while maintaining a 100% skill retention rate, enabling seamless multi-skill switching and real-time interactive control. We further validate the performance and generalization capability of Tree Learning on two distinct Unity-simulated tasks: a Super Mario-inspired interactive scenario and autonomous navigation in a classical Chinese garden environment.

Jun Li, Xiangmeng Wang, Haoyang Li et al.

Suicide is a critical global health issue that requires urgent attention. Even though prior work has revealed valuable insights into detecting current suicide risk on social media, little attention has been paid to developing models that can predict subsequent suicide risk over time, limiting their ability to capture rapid fluctuations in individuals' mental state transitions. In addition, existing work ignores protective factors that play a crucial role in suicide risk prediction, focusing predominantly on risk factors alone. Protective factors such as social support and coping strategies can mitigate suicide risk by moderating the impact of risk factors. Therefore, this study proposes a novel framework for predicting subsequent suicide risk by jointly learning the dynamic influence of both risk factors and protective factors on users' suicide risk transitions. We propose a novel Protective Factor-Aware Dataset, which is built from 12 years of Reddit posts along with comprehensive annotations of suicide risk and both risk and protective factors. We also introduce a Dynamic Factors Influence Learning approach that captures the varying impact of risk and protective factors on suicide risk transitions, recognizing that suicide risk fluctuates over time according to established psychological theories. Our thorough experiments demonstrate that the proposed model significantly outperforms state-of-the-art models and large language models across three datasets. In addition, the proposed Dynamic Factors Influence Learning provides interpretable weights, helping clinicians better understand suicidal patterns and enabling more targeted intervention strategies.