4 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…
Minimalist Compliance Control
Haochen Shi, Songbo Hu, Yifan Hou +3
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learnin…
4D Visual Pre-training for Robot Learning
Chengkai Hou, Yanjie Ze, Yankai Fu +5
General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation task…
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
Han Zhang, Songbo Hu, Zhecheng Yuan +1
Dexterous hand teleoperation plays a pivotal role in enabling robots to achieve human-level manipulation dexterity. However, current teleoperation systems often rely on expensive e…