8 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…
HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping
Runpei Dong, Ziyan Li, Arjun Gupta +2
Visual loco-manipulation of arbitrary in-the-wild objects requires accurate end-effector (EE) control and a generalizable understanding of the scene from visual inputs (eg, RGB-D i…
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…
InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions
Sirui Xu, Samuel Schulter, Morteza Ziyadi +4
Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated…
Generalizable Humanoid Manipulation with 3D Diffusion Policies
Yanjie Ze, Zixuan Chen, Wenhao Wang +5
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been…
Learning Getting-Up Policies for Real-World Humanoid Robots
Xialin He, Runpei Dong, Zixuan Chen +1
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied conf…