1 citations · 1 across the 9 of their papers we have counts for
9 papers
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Pihai Sun, Gang Han, Jingkai Sun +17
Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies become fragile as perception and control errors accumulate. We pres…
RobotPan: A 360 Surround-View Robotic Vision System for Embodied Perception
Jiahao Ma, Qiang Zhang, Peiran Liu +11
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, an…
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
Zelin Tao, Zeran Su, Peiran Liu +13
Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to r…
IPD: Boosting Sequential Policy with Imaginary Planning Distillation in Offline Reinforcement Learning
Yihao Qin, Yuanfei Wang, Hang Zhou +3
Decision transformer based sequential policies have emerged as a powerful paradigm in offline reinforcement learning (RL), yet their efficacy remains constrained by the quality of…
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Qiang Zhang, Jiahao Ma, Peiran Liu +20
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-l…
Physics-informed Diffusion Mamba Transformer for Real-world Driving
Hang Zhou, Qiang Zhang, Peiran Liu +3
Autonomous driving systems demand trajectory planners that not only model the inherent uncertainty of future motions but also respect complex temporal dependencies and underlying p…
DreamNav: A Trajectory-Based Imaginative Framework for Zero-Shot Vision-and-Language Navigation
Yunheng Wang, Yuetong Fang, Taowen Wang +6
Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied…
TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation
Peiran Liu, Qiang Zhang, Daojie Peng +6
Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynam…
A Value Function Space Approach for Hierarchical Planning with Signal Temporal Logic Tasks
Peiran Liu, Yiting He, Yihao Qin +2
Signal Temporal Logic (STL) has emerged as an expressive language for reasoning intricate planning objectives. However, existing STL-based methods often assume full observation and…