4 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…
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…
PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing
Bingquan Li, Ning Wang, Tianwei Zhang +2
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the pos…
Enhancing Diffusion Policy with Classifier-Free Guidance for Temporal Robotic Tasks
Yuang Lu, Song Wang, Xiao Han +3
Temporal sequential tasks challenge humanoid robots, as existing Diffusion Policy (DP) and Action Chunking with Transformers (ACT) methods often lack temporal context, resulting in…