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NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation
Xiangyu Miao, Junsong Wu, Jiyuan Shi +6
Whole-body teleoperation requires a humanoid robot to reproduce a human operator's behavior even when their terrains differ. This demands that the robot perceive local terrain and…
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
Weiji Xie, Jiakun Zheng, Jinrui Han +4
Recent advances in humanoid whole-body motion tracking have enabled the execution of diverse and highly coordinated motions on real hardware. However, existing controllers are comm…
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…
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
Jinrui Han, Dewei Wang, Chenyun Zhang +4
While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interacti…
KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
Jinrui Han, Weiji Xie, Jiakun Zheng +4
Learning versatile whole-body skills by tracking various human motions is a fundamental step toward general-purpose humanoid robots. This task is particularly challenging because a…
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
Weiji Xie, Jinrui Han, Jiakun Zheng +6
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, eve…