1 citations · 1 across the 3 of their papers we have counts for
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Learning Humanoid Navigation from Human Data
Weizhuo Wang, Yanjie Ze, C. Karen Liu +1
We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or fi…
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…
Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
Joao Pedro Araujo, Yanjie Ze, Pei Xu +2
Humanoid motion tracking policies are central to building teleoperation pipelines and hierarchical controllers, yet they face a fundamental challenge: the embodiment gap between hu…
VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
Shaofeng Yin, Yanjie Ze, Hong-Xing Yu +2
Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on ext…
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
Qiayuan Liao, Takara E. Truong, Xiaoyu Huang +4
The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers…