7 papers
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15
Whole-body humanoid manipulation of bulky, deformable, and shared-load objects requires distributed contact sensing and explicit force regulation, yet most imitation policies treat…
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
Zhaoyuan Gu, Yipu Chen, Zimeng Chai +12
Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon…
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao +2
Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In t…
Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains
Feiyang Wu, Xavier Nal, Jaehwi Jang +4
Humanoid robots promise transformative capabilities for industrial and service applications. While recent advances in Reinforcement Learning (RL) yield impressive results in locomo…
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Zhaoyuan Gu, Junheng Li, Wenlan Shen +15
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine lear…