13 citations · 27 across the 27 of their papers we have counts for
6 papers · 1 filter
CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
Sirui Chen, Zi-ang Cao, Zhengyi Luo +7
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform f…
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
NVIDIA, :, Mayank Mittal +104
We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab c…
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
Zhengyi Luo, Ye Yuan, Tingwu Wang +25
Despite the rise of billion-parameter foundation models trained across thousands of graphical processing units (GPUs), similar scaling gains have not been shown for humanoid contro…
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
Shuqi Zhao, Ke Yang, Yuxin Chen +5
Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring the…
Residual Policy Gradient: A Reward View of KL-regularized Objective
Pengcheng Wang, Xinghao Zhu, Yuxin Chen +3
Reinforcement Learning and Imitation Learning have achieved widespread success in many domains but remain constrained during real-world deployment. One of the main issues is the ad…
COMPASS: Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis
Wei Liu, Huihua Zhao, Chenran Li +4
As robots are increasingly deployed in diverse application domains, enabling robust mobility across different embodiments has become a critical challenge. Classical mobility stacks…