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cs.RO2025
Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
Haoru Xue, Tairan He, Zi Wang +9
Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow po…
cs.RO2025
VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
Tairan He, Zi Wang, Haoru Xue +11
A key barrier to the real-world deployment of humanoid robots is the lack of autonomous loco-manipulation skills. We introduce VIRAL, a visual sim-to-real framework that learns hum…
cs.RO2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao +15
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a s…