8 papers
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
Dewei Wang, Xinmiao Wang, Chenyun Zhang +4
While recent advances have demonstrated strong performance in individual humanoid skills such as upright locomotion, fall recovery and whole-body coordination, learning a single po…
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…
Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
Yingnan Zhao, Xinmiao Wang, Dewei Wang +5
Humanoid robots are promising to learn a diverse set of human-like locomotion behaviors, including standing up, walking, running, and jumping. However, existing methods predominant…
PCHC: Enabling Preference Conditioned Humanoid Control via Multi-Objective Reinforcement Learning
Huanyu Li, Dewei Wang, Xinmiao Wang +4
Humanoid robots often need to balance competing objectives, such as maximizing speed while minimizing energy consumption. While current reinforcement learning (RL) methods can mast…
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…
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
Jiyuan Shi, Xinzhe Liu, Dewei Wang +6
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches…