7 papers
SPLC: Social Preference Learning for Crowd Robot Navigation
Zixuan Chen, Hao Fu, Haiwen Hu +1
Offline reinforcement learning (RL) holds significant potential for crowd robot navigation in human-robot coexistence applications. However, the inherent complexity of pedestrian m…
Generalizable Humanoid Manipulation with 3D Diffusion Policies
Yanjie Ze, Zixuan Chen, Wenhao Wang +5
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been…
GMT: General Motion Tracking for Humanoid Whole-Body Control
Zixuan Chen, Mazeyu Ji, Xuxin Cheng +3
The ability to track general whole-body motions in the real world is a useful way to build general-purpose humanoid robots. However, achieving this can be challenging due to the te…
TWIST: Teleoperated Whole-Body Imitation System
Yanjie Ze, Zixuan Chen, João Pedro Araújo +4
Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface…
Learning Getting-Up Policies for Real-World Humanoid Robots
Xialin He, Runpei Dong, Zixuan Chen +1
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied conf…
Visual Whole-Body Control for Legged Loco-Manipulation
Minghuan Liu, Zixuan Chen, Xuxin Cheng +4
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an…