4 papers
ContactMimic: Humanoid Object Interaction via Contact Control
Xinyao Li, Xialin He, Runpei Dong +1
Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board, or pushing furniture, where the robot can reach the correct pose wi…
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Xialin He, Sirui Xu, Xinyao Li +4
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrai…
Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
Minghuan Liu, Zhengbang Zhu, Xiaoshen Han +12
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D…
RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations
Jingxiao Chen, Xinyao Li, Jiahang Cao +7
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react ba…