5 papers
Systematically Exploring the Capabilities of GPT-6 Astra as Embodied Policies
Galbot Team, Xuchuan Chen, Xiaoqian Cheng +31
GPT-6 Astra exhibits a remarkable ability to generate numerical robot actions, extending its role beyond high-level planning. To assess Astra's capabilities as general-purpose embo…
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
Dairu Liu, Zekun Qi, Jiayu Zeng +11
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-fram…
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
Zekun Qi, Xuchuan Chen, Dairu Liu +10
We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrai…
Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
Han Xue, Sikai Liang, Zhikai Zhang +7
We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, o…
Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
Zhikai Zhang, Chao Chen, Han Xue +6
Humans possess a large reachable space in the 3D world, enabling interaction with objects at varying heights and distances. However, realizing such large-space reaching on humanoid…