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Beyond Isolation: A Unified Benchmark for General-Purpose Navigation
Samson Sun, Tianyi Yang, Tengyue Wang +6
The pursuit of general-purpose embodied agents is hindered by fragmented evaluation protocols that isolate navigation skills and fixate on specific robot morphologies, failing to r…
Unified Perceptive Fall Safety for Humanoids
Osher Azulay, Zhengjie Xu, Andrew Scheffer +1
Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids undergo high-energy impacts, complex whole-body…
Unified Humanoid Fall-Safety Policy from a Few Demonstrations
Zhengjie Xu, Ye Li, Kwan-yee Lin +1
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of…
TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model
Xiyan Huang, Zhe Xu, Chenxi Xiao
Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulatio…