19 citations · 41 across the 20 of their papers we have counts for
8 papers · 1 filter
From Video to Vision: Learning Generalizable Humanoid Carrying from Human Motion
Ziluo Ding
Most existing approaches rely on video or motion-capture data for reinforcement learning (RL) training; however, all of these methods require an upper-level module to generate refe…
HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL
Langzhe Gu, Chengkai Hou, Meng Li +14
Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicabl…
HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
Shuanghao Bai, Meng Li, Xinyuan Lv +15
Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making hi…
General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
Zepeng Wang, Jiangxing Wang, Shiqing Yao +8
Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for r…
SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control
Yuxuan Wang, Haobin Jiang, Shiqing Yao +2
Existing humanoid control systems often rely on teleoperation or modular generation pipelines that separate language understanding from physical execution. However, the former is e…
JAEGER: Dual-Level Humanoid Whole-Body Controller
Ziluo Ding, Haobin Jiang, Yuxuan Wang +7
This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional…
RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
Junpeng Yue, Zepeng Wang, Yuxuan Wang +7
This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective lea…
From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots
Yuxuan Wang, Ming Yang, Ziluo Ding +5
Achieving general agile whole-body control on humanoid robots remains a major challenge due to diverse motion demands and data conflicts. While existing frameworks excel in trainin…