3 citations · 5 across the 25 of their papers we have counts for
21 papers · 1 filter
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Pihai Sun, Gang Han, Jingkai Sun +17
Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies become fragile as perception and control errors accumulate. We pres…
Learning Structural Latent Points for Efficient Visual Representations in Robotic Manipulation
Yicheng Jiang, Jiaxu Wang, Junhao He +8
Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural field…
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
Zelin Tao, Zeran Su, Peiran Liu +13
Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to r…
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Qiang Zhang, Jiahao Ma, Peiran Liu +20
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-l…
Learning Human-Like Badminton Skills for Humanoid Robots
Yeke Chen, Shihao Dong, Xiaoyu Ji +12
Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manip…
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
Jingkai Sun, Gang Han, Pihai Sun +5
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: de…