2 citations · 4 across the 6 of their papers we have counts for
4 papers · 1 filter
ContactMimic: Humanoid Object Interaction via Contact Control
Xinyao Li, Xialin He, Runpei Dong +1
Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board, or pushing furniture, where the robot can reach the correct pose wi…
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Xialin He, Sirui Xu, Xinyao Li +4
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrai…
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
Zekun Qi, Wenyao Zhang, Yufei Ding +15
While spatial reasoning has made progress in object localization relationships, it often overlooks object orientation-a key factor in 6-DoF fine-grained manipulation. Traditional p…
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…