Zhenyu Jiang

Zhenyu Jiang, Yuqi Xie, Jinhan Li et al.

Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to understand natural language communications and exhibit human-like behaviors. This work focuses on generating diverse whole-body motions for humanoid robots from language descriptions. We leverage human motion priors from extensive human motion datasets to initialize humanoid motions and employ the commonsense reasoning capabilities of Vision Language Models (VLMs) to edit and refine these motions. Our approach demonstrates the capability to produce natural, expressive, and text-aligned humanoid motions, validated through both simulated and real-world experiments. More videos can be found at https://ut-austin-rpl.github.io/Harmon/.

Xintong Chen, Zhenyu Jiang, Jiangbin Lyu et al.

Intelligent Reflecting Surfaces (IRSs) have potential for significant performance gains in next-generation wireless networks but face key challenges, notably severe double-pathloss and complex multi-user scheduling due to hardware constraints. Active IRSs partially address pathloss but still require efficient scheduling in cell-level multi-IRS multi-user systems, whereby the overhead/delay of channel state acquisition and the scheduling complexity both rise dramatically as the user density and channel dimensions increase. Motivated by these challenges, this paper proposes a novel scheduling framework based on neural Channel Knowledge Map (CKM), designing Transformer-based deep neural networks (DNNs) to predict ergodic spectral efficiency (SE) from historical channel/throughput measurements tagged with user positions. Specifically, two cascaded networks, LPS-Net and SE-Net, are designed to predict link power statistics (LPS) and ergodic SE accurately. We further propose a low-complexity Stable Matching-Iterative Balancing (SM-IB) scheduling algorithm. Numerical evaluations verify that the proposed neural CKM significantly enhances prediction accuracy and computational efficiency, while the SM-IB algorithm effectively achieves near-optimal max-min throughput with greatly reduced complexity.