4 papers
SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control
Yuxuan Wang, Haobin Jiang, Shiqing Yao +2
Existing humanoid control systems often rely on teleoperation or modular generation pipelines that separate language understanding from physical execution. However, the former is e…
JAEGER: Dual-Level Humanoid Whole-Body Controller
Ziluo Ding, Haobin Jiang, Yuxuan Wang +7
This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional…
RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
Junpeng Yue, Zepeng Wang, Yuxuan Wang +7
This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective lea…
From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots
Yuxuan Wang, Ming Yang, Ziluo Ding +5
Achieving general agile whole-body control on humanoid robots remains a major challenge due to diverse motion demands and data conflicts. While existing frameworks excel in trainin…