3 citations · 9 across the 30 of their papers we have counts for
13 papers · 1 filter
DEGS: Deformable Event-based 3D Gaussian Splatting from RGB and Event Stream
Junhao He, Jiaxu Wang, Jia Li +7
Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the sol…
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…
Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
Jiahang Cao, Yize Huang, Hanzhong Guo +15
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancemen…
LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
Haozhuo Zhang, Jingkai Sun, Michele Caprio +5
Physics-based human motion control can make a simulated character walk, sit, and manipulate objects with high physical realism. Almost always, though, this happens in short, isolat…
Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots
Wei Cui, Haoyu Wang, Wenkang Qin +19
Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various percept…
Occupancy World Model for Robots
Zhang Zhang, Qiang Zhang, Wei Cui +12
Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajec…
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network
Qiang Zhang, Jiahang Cao, Jingkai Sun +5
In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging en…
EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks
Yi Zhang, Qiang Zhang, Xiaozhu Ju +13
While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex l…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
Qiang Zhang, Gang Han, Jingkai Sun +7
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthr…
Trinity: A Modular Humanoid Robot AI System
Jingkai Sun, Qiang Zhang, Gang Han +7
In recent years, research on humanoid robots has garnered increasing attention. With breakthroughs in various types of artificial intelligence algorithms, embodied intelligence, ex…
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
Qiang Zhang, Gang Han, Jingkai Sun +6
In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics.…
Event Masked Autoencoder: Point-wise Action Recognition with Event-Based Cameras
Jingkai Sun, Qiang Zhang, Jiaxu Wang +2
Dynamic vision sensors (DVS) are bio-inspired devices that capture visual information in the form of asynchronous events, which encode changes in pixel intensity with high temporal…