8 papers
Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors
Yunkang Cheng, Yutong Wu, Menghan Li +2
Humanoid roller-skating is difficult because the robot must coordinate whole-body balance, rolling contacts, and velocity-dependent posture regulation. This paper presents an adver…
Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies
Penghui Chen, Tinglong Zheng, Yufeng Zhang +1
Humanoid robot motion learning requires not only task-oriented control policies but also physically feasible and natural behaviors that can be transferred to real robots. However,…
TSD: A Physics-Inspired Trajectory Saliency Detector for Efficient Imitation Learning
Yiming Zhao, Gongrui Ma, Qingkai Li +1
For imitation learning in robotic manipulation, high data collection costs result in the scarcity of high quality data. In this paper, we leverage the inherent heterogeneity of tra…
Preference-Conditioned Multi-Objective RL for Integrated Command Tracking and Force Compliance in Humanoid Locomotion
Tingxuan Leng, Yushi Wang, Tinglong Zheng +2
Humanoid locomotion requires not only accurate command tracking for navigation but also compliant responses to external forces during human interaction. Despite significant progres…
AutoOdom: Learning Auto-regressive Proprioceptive Odometry for Legged Locomotion
Changsheng Luo, Yushi Wang, Wenhan Cai +1
Accurate proprioceptive odometry is fundamental for legged robot navigation in GPS-denied and visually degraded environments where conventional visual odometry systems fail. Curren…
Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots
Yushi Wang, Changsheng Luo, Penghui Chen +7
Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to coordinate agile locomotion with unreliable visual perception in dynamic environment…