Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robust, and energy efficient. While learning-based locomotion has made significant progress, most existing methods optimize for velocity-tracking rather than direct pose reaching, resulting in inefficient, marching-style behavior when applied to short-range tasks. In this work, we develop a reinforcement learning approach that directly optimizes humanoid locomotion for SE(2) targets. Central to this approach is a new constellation-based reward function that encourages natural and efficient target-oriented movement. To evaluate performance, we introduce a benchmarking framework that measures energy consumption, time-to-target, and footstep count on a distribution of SE(2) goals. Our results show that the proposed approach consistently outperforms standard methods and enables successful transfer from simulation to hardware, highlighting the importance of targeted reward design for practical short-range humanoid locomotion.

Sparsity, defined as the presence of missing or zero values in a dataset, often poses a major challenge while operating on real-life datasets. Sparsity in features or target data of the training dataset can be handled using various interpolation methods, such as linear or polynomial interpolation, spline, moving average, or can be simply imputed. Interpolation methods usually perform well with Strict Sense Stationary (SSS) data. In this study, we show that an approximately 62\% sparse dataset with hourly load data of a power plant can be utilized for load forecasting assuming the data is Wide Sense Stationary (WSS), if augmented with Gaussian interpolation. More specifically, we perform statistical analysis on the data, and train multiple machine learning and deep learning models on the dataset. By comparing the performance of these models, we empirically demonstrate that Gaussian interpolation is a suitable option for dealing with load forecasting problems. Additionally, we demonstrate that Long Short-term Memory (LSTM)-based neural network model offers the best performance among a diverse set of classical and neural network-based models.

Novel categories names:['High_Jump', 'Front_Crawl', 'Pole_V ault', 'Hammer_Throw', All experiments are conducted under the 16-shot setting. An incremental bayesian approach tested on 101 object categories. Conditional prompt learning for vision-language models.

This paper studies the problem of estimating physical properties (system identification) through visual observations.

We present the first study on provably efficient randomized exploration in cooperative multi-agent reinforcement learning (MARL).

We propose the first learning scheme for functional differential equations (FDEs). FDEs play a fundamental role in physics, mathematics, and optimal control.

Despite its widespread use in neural networks, error backpropagation has faced criticism for its lack of biological plausibility, suffering from issues such as the backward locking problem and the weight transport problem.

Such models, recently coined foundation models,h a v eb e e n transformational to the field of natural language processing.