11 papers
Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking
Tao Huang, Ruofei Liu, Xuchen Tang +15
Humanoid robots have recently demonstrated promising capabilities in real-world ball sports. However, achieving professional motion styles while maintaining strong task performance…
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
Xiao Chen, Weishuai Zeng, Xiaojie Niu +12
While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to en…
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
Runyi Yu, Xiaoyi Lin, Ji Ma +11
Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust execution of meta-skills but also their seamless, closed-loop chaining equi…
Learning End-to-End Control for Omnidirectional Aerial Motion on Overactuated Tilt-rotor Quadrotors
Wentao Zhang, Zhaoqi Ma, Jinjie Li +8
While reinforcement learning (RL) has been successfully applied to conventional quadrotors for agile and robust flight, whether actuator-level RL can be reliably deployed on tilt-r…
Towards Adaptable Humanoid Control via Adaptive Motion Tracking
Tao Huang, Huayi Wang, Junli Ren +8
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable w…
PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
Huayi Wang, Wentao Zhang, Runyi Yu +10
Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene percept…
Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
Junli Ren, Junfeng Long, Tao Huang +7
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on qua…
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception
Junli Ren, Tao Huang, Huayi Wang +6
The performance of legged locomotion is closely tied to the accuracy and comprehensiveness of state observations. Blind policies, which rely solely on proprioception, are considere…
BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
Huayi Wang, Zirui Wang, Junli Ren +4
Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing learning-based…
Learning Humanoid Standing-up Control across Diverse Postures
Tao Huang, Junli Ren, Huayi Wang +6
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approa…
P3: A Policy-Driven, Pace-Adaptive, and Diversity-Promoted Framework for data pruning in LLM Training
Yingxuan Yang, Huayi Wang, Muning Wen +4
In the rapidly advancing field of Large Language Models (LLMs), effectively leveraging existing datasets during fine-tuning to maximize the model's potential is of paramount import…