5 papers
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang +5
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objec…
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
Thor: Towards Human-Level Whole-Body Reactions for Intense Contact-Rich Environments
Gangyang Li, Qing Shi, Youhao Hu +3
Humanoids hold great potential for service, industrial, and rescue applications, in which robots must sustain whole-body stability while performing intense, contact-rich interactio…
OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction
Shaqi Luo, Yuanyuan Li, Youhao Hu +7
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limit…