6 papers
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
Runyi Yu, Xiaoyi Lin, Ji Ma +11
Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust execution of meta-skills but also their seamless, closed-loop chaining equi…
Switch: Learning Agile Skills Switching for Humanoid Robots
Yuen-Fui Lau, Qihan Zhao, Yinhuai Wang +4
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skil…
HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos
Yinhuai Wang, Qihan Zhao, Yuen Fui Lau +6
Enabling humanoid robots to perform agile and adaptive interactions has long been a core challenge in robotics. Current approaches are bottlenecked by either the scarcity of realis…
Learning Generalizable Hand-Object Tracking from Synthetic Demonstrations
Yinhuai Wang, Runyi Yu, Hok Wai Tsui +9
We present a system for learning generalizable hand-object tracking controllers purely from synthetic data, without requiring any human demonstrations. Our approach makes two key c…
SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations
Runyi Yu, Yinhuai Wang, Qihan Zhao +4
We address a fundamental challenge in Reinforcement Learning from Interaction Demonstration (RLID): demonstration noise and coverage limitations. While existing data collection app…
InstantSwap: Fast Customized Concept Swapping across Sharp Shape Differences
Chenyang Zhu, Kai Li, Yue Ma +5
Recent advances in Customized Concept Swapping (CCS) enable a text-to-image model to swap a concept in the source image with a customized target concept. However, the existing meth…