Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment interactions, guided by task rewards. However, existing RL methods rarely explicitly consider the impact of body stability on humanoid locomotion and manipulation. Achieving high performance in whole-body control remains a challenge for RL methods that rely solely on task rewards. In this paper, we propose a Foundation model-based method for humanoid Locomotion And Manipulation (FLAM for short). FLAM integrates a stabilizing reward function with a basic policy. The stabilizing reward function is designed to encourage the robot to learn stable postures, thereby accelerating the learning process and facilitating task completion. Specifically, the robot pose is first mapped to the 3D virtual human model. Then, the human pose is stabilized and reconstructed through a human motion reconstruction model. Finally, the pose before and after reconstruction is used to compute the stabilizing reward. By combining this stabilizing reward with the task reward, FLAM effectively guides policy learning. Experimental results on a humanoid robot benchmark demonstrate that FLAM outperforms state-of-the-art RL methods, highlighting its effectiveness in improving stability and overall performance.

Identifying anomalies from time series data plays an important role in various fields such as infrastructure security, intelligent operation and maintenance, and space exploration. Current research focuses on detecting the anomalies after they occur, which can lead to significant financial/reputation loss or infrastructure damage. In this work we instead study a more practical yet very challenging problem, time series anomaly prediction, aiming at providing early warnings for abnormal events before their occurrence. To tackle this problem, we introduce a novel principled approach, namely future context modeling (FCM). Its key insight is that the future abnormal events in a target window can be accurately predicted if their preceding observation window exhibits any subtle difference to normal data. To effectively capture such differences, FCM first leverages long-term forecasting models to generate a discriminative future context based on the observation data, aiming to amplify those subtle but unusual difference. It then models a normality correlation of the observation data with the forecasting future context to complement the normality modeling of the observation data in foreseeing possible abnormality in the target window. A joint variate-time attention learning is also introduced in FCM to leverage both temporal signals and features of the time series data for more discriminative normality modeling in the aforementioned two views. Comprehensive experiments on five datasets demonstrate that FCM gains good recall rate (70\%+) on multiple datasets and significantly outperforms all baselines in F1 score. Code is available at https://github.com/mala-lab/FCM.

Reinforcement Learning (RL) and Imitation Learning (IL) have made great progress in robotic control in recent years. However, these methods show obvious deterioration for new tasks that need to be completed through new combinations of actions. RL methods heavily rely on reward functions that cannot generalize well for new tasks, while IL methods are limited by expert demonstrations which do not cover new tasks. In contrast, humans can easily complete these tasks with the fragmented knowledge learned from task-agnostic experience. Inspired by this observation, this paper proposes a task-agnostic learning method (TAL for short) that can learn fragmented knowledge from task-agnostic data to accomplish new tasks. TAL consists of four stages. First, the task-agnostic exploration is performed to collect data from interactions with the environment. The collected data is organized via a knowledge graph. Compared with the previous sequential structure, the knowledge graph representation is more compact and fits better for environment exploration. Second, an action feature extractor is proposed and trained using the collected knowledge graph data for task-agnostic fragmented knowledge learning. Third, a candidate action generator is designed, which applies the action feature extractor on a new task to generate multiple candidate action sets. Finally, an action proposal is designed to produce the probabilities for actions in a new task according to the environmental information. The probabilities are then used to select actions to be executed from multiple candidate action sets to form the plan. Experiments on a virtual indoor scene show that the proposed method outperforms the state-of-the-art offline RL method: CQL by 35.28% and the IL method: BC by 22.22%.