6 papers
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Yucheng Xin, Jiacheng Bao, Yubo Dong +5
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challengin…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
Yucheng Xin, Jiacheng Bao, Haoran Yang +6
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research…
ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data
Haoran Yang, Jiacheng Bao, Yucheng Xin +5
Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high cost of whole-body teleoperation data. We present ZeroWBC, a teleoperati…
Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks
Honghui Wang, Zhi Jing, Jicong Ao +4
The high cost of collecting real-robot data has made robotic simulation a scalable platform for both evaluation and data generation. Yet most existing benchmarks concentrate on sim…
SAGE-LLM: Towards Safe and Generalizable LLM Controller with Fuzzy-CBF Verification and Graph-Structured Knowledge Retrieval for UAV Decision
Wenzhe Zhao, Yang Zhao, Ganchao Liu +4
In UAV dynamic decision, complex and variable hazardous factors pose severe challenges to the generalization capability of algorithms. Despite offering semantic understanding and s…
InterSyn: Interleaved Learning for Dynamic Motion Synthesis in the Wild
Yiyi Ma, Yuanzhi Liang, Xiu Li +2
We present Interleaved Learning for Motion Synthesis (InterSyn), a novel framework that targets the generation of realistic interaction motions by learning from integrated motions…