2 citations · 2 across the 3 of their papers we have counts for
4 papers · 1 filter
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
Pranav Debbad, Kanish Thiagarajan, Victor Dhédin +2
Imitating human demonstrations has emerged as a dominant paradigm for learning humanoid loco-manipulation policies. However, scaling these approaches remains challenging due to the…
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
Victor Dhedin, Ilyass Taouil, Shafeef Omar +4
In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Bas…
Diffusion-based learning of contact plans for agile locomotion
Victor Dhédin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana +5
Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones…
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…