3 papers
cs.RO2026
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…
cs.RO2026
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
Zehao Yu, Jiakun Zheng, Weiji Xie +4
Recent progress in robot manipulation has been largely driven by learning from large-scale demonstrations. For humanoid robot loco-manipulation tasks, however, existing data source…
cs.RO2026
HALO:Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation
Xingyi Wang, Chenyun Zhang, Weiji Xie +4
Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality r…