20 papers · 1 filter
LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
Haozhuo Zhang, Jingkai Sun, Michele Caprio +5
Physics-based human motion control can make a simulated character walk, sit, and manipulate objects with high physical realism. Almost always, though, this happens in short, isolat…
Learning Structural Latent Points for Efficient Visual Representations in Robotic Manipulation
Yicheng Jiang, Jiaxu Wang, Junhao He +8
Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural field…
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
Zelin Tao, Zeran Su, Peiran Liu +13
Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to r…
Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
Jiahang Cao, Yize Huang, Hanzhong Guo +15
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancemen…
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Qiang Zhang, Jiahao Ma, Peiran Liu +20
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-l…
Learning Human-Like Badminton Skills for Humanoid Robots
Yeke Chen, Shihao Dong, Xiaoyu Ji +10
Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manip…