5 papers · 1 filter
RoboDreamer: Anticipatory Humanoid Locomotion with Predictive State-Space Models
Zhe Li, Yangyang Wei, Xichen Yuan +4
Humanoid locomotion requires control policies that remain stable under imperfect sensing while exploiting temporal context for consistent motion. We present RoboDreamer, a two-stag…
-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
Zhe Li, Zhenzhe Zhang, Yangyang Wei +8
Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated beh…
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
Zhe Li, Cheng Chi, Yangyang Wei +9
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion fro…
RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion
Zhe Li, Boan Zhu, Yangyang Wei +11
Humans learn locomotion through visual observation, interpreting visual content first before imitating actions. However, state-of-the-art humanoid locomotion systems rely on either…
From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance
Zhe Li, Cheng Chi, Yangyang Wei +7
Natural language offers a natural interface for humanoid robots, but existing language-guided humanoid locomotion pipelines remain cumbersome and untrustworthy. They typically deco…