3 citations · 3 across the 2 of their papers we have counts for
4 papers · 1 filter
Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement
Minku Kim, Kuan-Chia Chen, Aayam Shrestha +3
We investigate a skill-based framework for humanoid box rearrangement that enables long-horizon execution by sequencing reusable skills at the task level. In our architecture, all…
Multi-Quadruped Cooperative Object Transport: Learning Decentralized Pinch-Lift-Move
Bikram Pandit, Aayam Kumar Shrestha, Alan Fern
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike p…
No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets
Pranay Dugar, Mohitvishnu S. Gadde, Jonah Siekmann +3
Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robu…
Generating Physically Realistic and Directable Human Motions from Multi-Modal Inputs
Aayam Shrestha, Pan Liu, German Ros +2
This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may…