5 papers
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6
In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles…
SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation
Jeonguk Kang, Hanbyel Cho, Sanghyun Kang +1
Humanoid loco-manipulation requires stable whole-body control under varying object masses and pickup/placement heights. This becomes particularly challenging in sim-to-real transfe…
RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC
Seungho Han, Seokju Lee, Jeonguk Kang
Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail…
SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
Hanbyel Cho, Sang-Hun Kim, Jeonguk Kang +1
Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physic…
Dual-MPC Footstep Planning for Robust Quadruped Locomotion
Byeong-Il Ham, Hyun-Bin Kim, Jeonguk Kang +2
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations b…