2 citations · 3 across the 12 of their papers we have counts for
10 papers · 1 filter
UniReLo: Learning a Unified Humanoid Policy from Fall Recovery to Locomotion across Diverse Terrains
Xiaoyu Xu, Zhiming Chen, Yuenan Zhao +2
Reliable fall recovery, which commonly aims at attaining a nominal upright posture, is essential for the autonomous operation of humanoid robots in unstructured field environments.…
SafeFall: Learning Protective Control for Humanoid Robots
Ziyu Meng, Tengyu Liu, Le Ma +4
Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots.…
Vision-Language Model Predictive Control for Manipulation Planning and Trajectory Generation
Jiaming Chen, Wentao Zhao, Ziyu Meng +4
Model Predictive Control (MPC) is a widely adopted control paradigm that leverages predictive models to estimate future system states and optimize control inputs accordingly. Howev…
Dexterous Manipulation through Imitation Learning: A Survey
Shan An, Ziyu Meng, Chao Tang +9
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordi…
StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion
Le Ma, Ziyu Meng, Tengyu Liu +4
Humanoid robots are anticipated to acquire a wide range of locomotion capabilities while ensuring natural movement across varying speeds and terrains. Existing methods encounter a…
Learning Instruction-Guided Manipulation Affordance via Large Models for Embodied Robotic Tasks
Dayou Li, Chenkun Zhao, Shuo Yang +3
We study the task of language instruction-guided robotic manipulation, in which an embodied robot is supposed to manipulate the target objects based on the language instructions. I…
Where to Fetch: Extracting Visual Scene Representation from Large Pre-Trained Models for Robotic Goal Navigation
Yu Li, Dayou Li, Chenkun Zhao +3
To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment…
MPGNet: Learning Move-Push-Grasping Synergy for Target-Oriented Grasping in Occluded Scenes
Dayou Li, Chenkun Zhao, Shuo Yang +3
This paper focuses on target-oriented grasping in occluded scenes, where the target object is specified by a binary mask and the goal is to grasp the target object with as few robo…
Integrating Controllable Motion Skills from Demonstrations
Honghao Liao, Zhiheng Li, Ziyu Meng +3
The expanding applications of legged robots require their mastery of versatile motion skills. Correspondingly, researchers must address the challenge of integrating multiple divers…
VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation
Wentao Zhao, Jiaming Chen, Ziyu Meng +3
Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability…