7 citations · 18 across the 21 of their papers we have counts for
7 papers · 2 filters
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4
Motion retargeting approaches often prioritize kinematic similarity over whole-body dynamics, contact consistency, and actuation limits, yielding references that are difficult for…
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
Lizhi Yang, Junheng Li, Aaron D. Ames
We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball. The deploye…
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
Lizhi Yang, Junheng Li, Nehar Poddar +5
Humanoid loco-manipulation benefits from one controller to coordinate locomotion, arm movements, and fall recovery. These behaviors are difficult to learn together from scratch bec…
Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
Junheng Li, Liang Wu, Sergio A. Esteban +3
In humanoid motion control, model predictive control (MPC) offers physically grounded prediction and constraint handling, while reinforcement learning (RL) enables robust whole-bod…
On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
Sergio A. Esteban, Junheng Li, Vince Kurtz +1
Domain randomization (DR) is widely used in policy learning to improve robustness to modeling error, but remains underexplored in contact-rich sampling-based predictive control (SP…
MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
Junheng Li, Lizhi Yang, Aaron D. Ames
Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. Wh…
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
Min Dai, William D. Compton, Junheng Li +2
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even…