4 papers
Locomotion Beyond Feet
Tae Hoon Yang, Haochen Shi, Jiacheng Hu +10
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability…
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Yanjie Ze, Siheng Zhao, Weizhuo Wang +6
Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effe…
Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
Kaizhe Hu, Haochen Shi, Yao He +3
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remain…
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
Haochen Shi, Weizhuo Wang, Shuran Song +1
Learning-based robotics research driven by data demands a new approach to robot hardware design-one that serves as both a platform for policy execution and a tool for embodied data…