9 citations · 31 across the 15 of their papers we have counts for
11 papers · 1 filter
HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments
Toan Nguyen, Weiduo Yuan, Siheng Zhao +2
Object transportation is a fundamental capability for humanoid robots operating in real-world, human-centric environments, yet existing methods struggle when clutter constrains fre…
LadderMan: Learning Humanoid Perceptive Ladder Climbing
Siheng Zhao, Yuanhang Zhang, Ziqi Lu +6
Humanoid robots hold great promise for operating in human-centered environments, yet ladder climbing remains one of the most challenging tasks due to sparse footholds and handholds…
D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
Haozhe Lou, Mingtong Zhang, Haoran Geng +9
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real…
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Yanjie Ze, Siheng Zhao, Weizhuo Wang +6
Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effe…
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
Siheng Zhao, Yanjie Ze, Yue Wang +4
Humanoid whole-body loco-manipulation promises transformative capabilities for daily service and warehouse tasks. While recent advances in general motion tracking (GMT) have enable…
Robot Learning from Any Images
Siheng Zhao, Jiageng Mao, Wei Chow +11
We introduce RoLA, a framework that transforms any in-the-wild image into an interactive, physics-enabled robotic environment. Unlike previous methods, RoLA operates directly on a…
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Haoran Geng, Feishi Wang, Songlin Wei +34
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges i…
Learning from Massive Human Videos for Universal Humanoid Pose Control
Jiageng Mao, Siheng Zhao, Siqi Song +7
Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperat…
GRUtopia: Dream General Robots in a City at Scale
Hanqing Wang, Jiahe Chen, Wensi Huang +19
Recent works have been exploring the scaling laws in the field of Embodied AI. Given the prohibitive costs of collecting real-world data, we believe the Simulation-to-Real (Sim2Rea…
TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
Weikun Peng, Jun Lv, Yuwei Zeng +5
The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from…
ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment
Bingyang Zhou, Haoyu Zhou, Tianhai Liang +10
We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated wi…