6 papers
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains
Haoxuan Han, Chen Chen, Linao Gong +6
Humanoid robots have achieved strong locomotion capabilities, but reliable navigation on versatile terrains remains challenging because obstacle avoidance must be coordinated with…
Stabilizing On-Policy Distillation for MLLM Reasoning with Global Normalization
Dongze Hao, Zhiwei Jin, Chen Chen +1
On-policy distillation (OPD) has recently emerged as an important post-training paradigm. By using a stronger teacher model to provide dense, fine-grained supervision for sampled t…
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
Junhong Guo, Hao Hu, Chen Chen +6
Achieving both anthropomorphic naturalness and robust terrain traversal remains a fundamental challenge in humanoid locomotion. Existing Reinforcement Learning (RL) approaches typi…
Pts3D-LLM: Studying the Impact of Token Structure for 3D Scene Understanding With Large Language Models
Hugues Thomas, Chen Chen, Jian Zhang
Effectively representing 3D scenes for Multimodal Large Language Models (MLLMs) is crucial yet challenging. Existing approaches commonly only rely on 2D image features and use vari…
Local Policies Enable Zero-shot Long-horizon Manipulation
Murtaza Dalal, Min Liu, Walter Talbott +4
Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we in…
ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning
Daehwa Kim, Mario Srouji, Chen Chen +1
Humanoid robots have significant gaps in their sensing and perception, making it hard to perform motion planning in dense environments. To address this, we introduce ARMOR, a novel…