31 papers
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
Weiji Xie, Jinrui Han, Jiakun Zheng +6
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, eve…
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
Dewei Wang, Xinmiao Wang, Chenyun Zhang +4
While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single po…
AssemLM: A Spatial Reasoning Multimodal Large Language Model for Robotic Assembly
Zhi Jing, Jinbin Qiao, Ouyang Lu +5
Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. Recent methods based on vision-lan…
UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
Shi Jin, Yuntian Wang, Yuhui Duan +16
Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing f…
SpaceVLN: A Zero-Shot Vision-and-Language Navigation Agent with Online Spatial Cognitive Memory and Reasoning
Yucheng Deng, Pingrui Lai, Xinhai Li +5
Vision-and-Language Navigation in continuous environments requires agents to understand the spatial structure of previously unseen environments in order to follow language instruct…
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
Zehao Yu, Jiakun Zheng, Weiji Xie +4
Recent progress in robot manipulation has been largely driven by learning from large-scale demonstrations. For humanoid robot loco-manipulation tasks, however, existing data source…