5 papers
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
Victor Dhedin, Ilyass Taouil, Shafeef Omar +4
In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Bas…
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
Ilyass Taouil, Michal Ciebelski, Shafeef Omar +4
We present MotionDisco, a framework that discovers contact-rich, long-horizon humanoid loco-manipulation motions from scratch, without relying on teleoperation or motion retargetin…
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Ilyass Taouil, Lorenzo Amatucci, Majid Khadiv +4
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combin…
Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
Ilyass Taouil, Haizhou Zhao, Angela Dai +1
This paper uses the capabilities of latent diffusion models (LDMs) to generate realistic RGB human-object interaction scenes to guide humanoid loco-manipulation planning. To do so,…
Use of Winsome Robots for Understanding Human Feedback (UWU)
Jessica Eggers, Angela Dai, Matthew C. Gombolay
As social robots become more common, many have adopted cute aesthetics aiming to enhance user comfort and acceptance. However, the effect of this aesthetic choice on human feedback…