Xueqiao Sun, Xiao Liu, Bowen Lv, Hanchen Zhang, Bohao Jing, Zehan Qi, Yifan Xu, Yuxiao Dong, Jie Tang. Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers). 2026.

A primary challenge for visual-based Reinforcement Learning (RL) is to generalize effectively across unseen environments. Although previous studies have explored different auxiliary tasks to enhance generalization, few adopt image reconstruction due to concerns about exacerbating overfitting to task-irrelevant features during training. Perceiving the pre-eminence of image reconstruction in representation learning, we propose SMG (\blue{S}eparated \blue{M}odels for \blue{G}eneralization), a novel approach that exploits image reconstruction for generalization. SMG introduces two model branches to extract task-relevant and task-irrelevant representations separately from visual observations via cooperatively reconstruction. Built upon this architecture, we further emphasize the importance of task-relevant features for generalization. Specifically, SMG incorporates two additional consistency losses to guide the agent's focus toward task-relevant areas across different scenarios, thereby achieving free from overfitting. Extensive experiments in DMC demonstrate the SOTA performance of SMG in generalization, particularly excelling in video-background settings. Evaluations on robotic manipulation tasks further confirm the robustness of SMG in real-world applications. Source code is available at \url{https://anonymous.4open.science/r/SMG/}.

Ankle moment plays an important role in human gait analysis, patients' rehabilitation process monitoring, and the human-machine interaction control of exoskeleton robots. However, current ankle moment estimation methods mainly rely on inverse dynamics (ID) based on optical motion capture system (OMC) and force plate. These methods rely on fixed instruments in the laboratory, which are difficult to be applied to the control of exoskeleton robots. To solve this problem, this paper developed a new distributed plantar pressure system and proposed an ankle plantar flexion moment estimation method using the plantar pressure system. We integrated eight pressure sensors in each insole to collect the pressure data of the key area of the foot and then used the plantar pressure data to train four neural networks to obtain the ankle moment. The performance of the models was evaluated using normalized root mean square error (NRMSE) and cross-correlation coefficient (ρ). During experiments, eight subjects were recruited for the overground walking tests, and OMC and force plate were used as the gold standard. The results indicate that the Genetic algorithm - Gated recurrent unit estimation algorithm (GA-GRU) was the best estimation model which achieved the highest accuracy in generalized ankle moment estimation (NRMSE = 7.23%, ρ = 0.85) compared with the other models. The designed novel distributed plantar pressure system and the proposed method could serve as a joint moment estimation approach in wearable robot control and human motion state monitoring.