9 papers
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Yen-Jen Wang, Jiaman Li, Sirui Chen +9
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egoc…
Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang +4
Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex…
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang +7
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they funct…
Coordinated Humanoid Manipulation with Choice Policies
Haozhi Qi, Yen-Jen Wang, Toru Lin +4
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challe…
HuB: Learning Extreme Humanoid Balance
Tong Zhang, Boyuan Zheng, Ruiqian Nai +8
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precis…
Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
Yucheng Hu, Yanjiang Guo, Pengchao Wang +6
Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image…