5 papers
LocoManiLab: A Unified Testbed for Data, Policies, Controllers, and Deployment in Humanoid Loco-Manipulation
Dewei Wang, Jinrui Han, Jiyuan Shi +11
Humanoid robots must coordinate locomotion and manipulation in everyday environments, yet progress is difficult to assess across differing policies, controllers, and task settings.…
ReaDy: Recurrent States as Dynamic Context for Speculative Drafting in Hybrid Linear Attention Large Language Models
Bohan Sun, Zunhai Su, Xialie Zhuang +3
Speculative decoding accelerates autoregressive generation by drafting multiple tokens per step, yet feature-based drafters rely on target hidden features whose contextual emphasis…
Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
Yuhang Lin, Jiyuan Shi, Dewei Wang +4
Executing reliable Humanoid-Object Interaction (HOI) tasks for humanoid robots is hindered by the lack of generalized control interfaces and robust closed-loop perception mechanism…
Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
Jipeng Kong, Xinzhe Liu, Yuhang Lin +4
Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body bal…
Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform
Yuxin Lin, Jiaxuan Ma, Sizhe Gu +6
Mobile robotics datasets are essential for research on robotics, for example for research on Simultaneous Localization and Mapping (SLAM). Therefore the ShanghaiTech Mapping Robot…