4 papers
GaitSpan: Growing Humanoid Locomotion from Walking to Running
Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1
A humanoid that can walk should not relearn locomotion from scratch to jog or run. Yet current approaches often obtain gait diversity by prescribing gait schedules, imitating motio…
Visually-grounded Humanoid Agents
Hang Ye, Xiaoxuan Ma, Fan Lu +3
Digital human generation has been studied for decades and supports a wide range of real-world applications. However, most existing systems are passively animated, relying on privil…
Unified Humanoid Fall-Safety Policy from a Few Demonstrations
Zhengjie Xu, Ye Li, Kwan-yee Lin +1
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of…
Let Humanoids Hike! Integrative Skill Development on Complex Trails
Kwan-Yee Lin, Stella X. Yu
Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking:…