3 papers
cs.RO2026
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots
Yumeng Liu, Dongqi Wang, Jiyu Yu +3
High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between t…
cs.RO2025
A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
Zhenghan Chen, Haodong Zhang, Dongqi Wang +4
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-l…
cs.RO2025
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
Zhenghan Chen, Haocheng Xu, Haodong Zhang +7
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are…