5 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…
ReCoVLA: VLM-Guided Reward Compilation for Failure Recovery in Vision-Language-Action Policies
Haodi Hu, Chung-Ta Huang, Jing Liu +4
Vision-language-action (VLA) policies provide strong priors for language-conditioned manipulation, but remain brittle in off-nominal states requiring targeted recovery. We propose…
Granular Loco-Manipulation: Repositioning Rocks Through Strategic Sand Avalanche
Haodi Hu, Yue Wu, Feifei Qian +1
Legged robots have the potential to leverage obstacles to climb steep sand slopes. However, efficiently repositioning these obstacles to desired locations is challenging. Here we p…
Multi-robot connective collaboration toward collective obstacle field traversal
Haodi Hu, Xingjue Liao, Wuhao Du +1
Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study s…
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
Haodi Hu, Feifei Qian, Daniel Seita
Legged robot locomotion on sand slopes is challenging due to the complex dynamics of granular media and how the lack of solid surfaces can hinder locomotion. A promising strategy,…