5 papers
CoLA-Flow Policy: Temporally Coherent Imitation Learning via Continuous Latent Action Flow Matching for Robotic Manipulation
Wu Songwei, Jiang Zhiduo, Sun Wandong +4
Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existin…
Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels
Wandong Sun, Yongbo Su, Leoric Huang +10
Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades perfo…
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
Wandong Sun, Luying Feng, Baoshi Cao +3
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures t…
Learning Perceptive Humanoid Locomotion over Challenging Terrain
Wandong Sun, Baoshi Cao, Long Chen +4
Humanoid robots are engineered to navigate terrains akin to those encountered by humans, which necessitates human-like locomotion and perceptual abilities. Currently, the most reli…
Learning Humanoid Locomotion with World Model Reconstruction
Wandong Sun, Long Chen, Yongbo Su +3
Humanoid robots are designed to navigate environments accessible to humans using their legs. However, classical research has primarily focused on controlled laboratory settings, re…