3 citations · 8 across the 10 of their papers we have counts for
11 papers
The Neverwhere Visual Parkour Benchmark Suite
Ziyu Chen, Henghui Bao, Haoran Chang +12
State-of-the-art visual locomotion controllers are increasingly capable at handling complex visual environments, making evaluating their real-world performance before deployment in…
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu +8
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a…
Human-Robot Copilot for Data-Efficient Imitation Learning
Rui Yan, Zaitian Gongye, Lars Paulsen +2
Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available…
WildLMa: Long Horizon Loco-Manipulation in the Wild
Ri-Zhao Qiu, Yuchen Song, Xuanbin Peng +8
'In-the-wild' mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations…
Visual Manipulation with Legs
Xialin He, Chengjing Yuan, Wenxuan Zhou +3
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to in…
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
Qi Wu, Zipeng Fu, Xuxin Cheng +2
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require…
Expressive Whole-Body Control for Humanoid Robots
Xuxin Cheng, Yandong Ji, Junming Chen +3
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic h…
Visual Whole-Body Control for Legged Loco-Manipulation
Minghuan Liu, Zixuan Chen, Xuxin Cheng +4
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an…
Learning Generalizable Feature Fields for Mobile Manipulation
Ri-Zhao Qiu, Yafei Hu, Yuchen Song +8
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires c…
Harmonic Mobile Manipulation
Ruihan Yang, Yejin Kim, Rose Hendrix +3
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tas…
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Ruihan Yang, Zhuoqun Chen, Jianhan Ma +4
The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this s…