8 citations · 10 across the 10 of their papers we have counts for
7 papers · 1 filter
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…
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
Lujie Yang, Xiaoyu Huang, Zhen Wu +6
A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existin…
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…
LookOut: Real-World Humanoid Egocentric Navigation
Boxiao Pan, Adam W. Harley, C. Karen Liu +1
The ability to predict collision-free future trajectories from egocentric observations is crucial in applications such as humanoid robotics, VR / AR, and assistive navigation. In t…
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…