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cs.RO2025
Coordinated Humanoid Manipulation with Choice Policies
Haozhi Qi, Yen-Jen Wang, Toru Lin +4
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challe…
cs.RO2025
PyRoki: A Modular Toolkit for Robot Kinematic Optimization
Chung Min Kim, Brent Yi, Hongsuk Choi +3
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present P…
cs.RO2025
From Simple to Complex Skills: The Case of In-Hand Object Reorientation
Haozhi Qi, Brent Yi, Mike Lambeta +3
Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each ne…