3 papers
cs.RO2025
Bridging Adaptivity and Safety: Learning Agile Collision-Free Locomotion Across Varied Physics
Yichao Zhong, Chong Zhang, Tairan He +1
Real-world legged locomotion systems often need to reconcile agility and safety for different scenarios. Moreover, the underlying dynamics are often unknown and time-variant (e.g.,…
cs.RO2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
Chong Zhang, Wenli Xiao, Tairan He +1
Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion p…
cs.RO2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
Tairan He, Zhengyi Luo, Xialin He +6
We present OmniH2O (Omni Human-to-Humanoid), a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic pose as a universal control interface, Omni…