Publications (17)
Robot Parkour Learning
Ziwen Zhuang, Zipeng Fu, Jianren Wang +4
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse…
HumanPlus: Humanoid Shadowing and Imitation from Humans
Zipeng Fu, Qingqing Zhao, Qi Wu +2
One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained…
Machine Learning Forcefield for Silicate Glasses
Han Liu, Zipeng Fu, Yipeng Li +2
Developing accurate, transferable, and computationally-efficient interatomic forcefields is key to facilitate the modeling of silicate glasses. However, the high number of forcefie…
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
Zipeng Fu, Xuxin Cheng, Deepak Pathak
An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. Th…
Coupling Vision and Proprioception for Navigation of Legged Robots
Zipeng Fu, Ashish Kumar, Ananye Agarwal +3
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traver…
Emergence of Theory of Mind Collaboration in Multiagent Systems
Luyao Yuan, Zipeng Fu, Linqi Zhou +2
Currently, in the study of multiagent systems, the intentions of agents are usually ignored. Nonetheless, as pointed out by Theory of Mind (ToM), people regularly reason about othe…