4 papers · 1 filter
KODA: Kinematics--Observation Data Alignment for Humanoid Learning from Human Egocentric Demonstration
Zibo Zhou, Yueru Chen, Junsong Wu +8
Training humanoid whole-body vision-language-action (VLA) policies requires costly robot demonstrations with aligned robot-view observations and controller-compatible whole-body st…
GLoRI: Closed-Loop Whole-Body Tracking with Global-Local Reference Interaction for Humanoid Loco-Manipulation
Qingyao Xu, Sheng Yin, Zibo Zhou +3
Humanoid loco-manipulation requires accurate whole-body motion tracking in the world frame for physical interaction. While local references preserve motion structure, they lack exp…
PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization
Zixing Lei, Zibo Zhou, Sheng Yin +7
Humanoid whole-body control (WBC) policies trained in simulation often suffer from the sim-to-real gap, which fundamentally arises from simulator inductive bias, the inherent assum…
BeliefMapNav: 3D Voxel-Based Belief Map for Zero-Shot Object Navigation
Zibo Zhou, Yue Hu, Lingkai Zhang +2
Zero-shot object navigation (ZSON) allows robots to find target objects in unfamiliar environments using natural language instructions, without relying on pre-built maps or task-sp…