3 papers
cs.RO2026
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
Xiao Chen, Weishuai Zeng, Xiaojie Niu +12
While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to en…
cs.GR2025
Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions
Jianan Li, Xiao Chen, Tao Huang +1
Video data is more cost-effective than motion capture data for learning 3D character motion controllers, yet synthesizing realistic and diverse behaviors directly from videos remai…
cs.RO2025
Learning Humanoid Standing-up Control across Diverse Postures
Tao Huang, Junli Ren, Huayi Wang +6
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approa…