5 citations · 6 across the 7 of their papers we have counts for
8 papers
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data
Songbo Hu, Qiayuan Liao, Yufeng Chi +4
Humanoid robots still struggle to plan contact-rich whole-body manipulation from egocentric RGB and proprioception. Workhorse learns such manipulation from robot-free human demonst…
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
Yiyang Shao, Xiaoyu Huang, Bike Zhang +6
General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life. Natural language provides the most accessible mediu…
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
Yufeng Chi, Qiayuan Liao, Junfeng Long +5
Despite significant interest and advancements in humanoid robotics, most existing commercially available hardware remains high-cost, closed-source, and non-transparent within the r…
NeCTAr: A Heterogeneous RISC-V SoC for Language Model Inference in Intel 16
Viansa Schmulbach, Jason Kim, Ethan Gao +4
This paper introduces NeCTAr (Near-Cache Transformer Accelerator), a 16nm heterogeneous multicore RISC-V SoC for sparse and dense machine learning kernels with both near-core and n…
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang +5
This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of d…
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang +6
We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping using quadrupeds is a c…
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
Chenyu Yang, Guo Ning Sue, Zhongyu Li +6
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (…