10 citations · 11 across the 7 of their papers we have counts for
7 papers
OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
Yingdong Hu, Haodong Zhu, Boyuan Zheng +6
Whole-body humanoid loco-manipulation requires coordinating the robot's entire kinematic chain. However, most existing systems typically decouple the upper and lower bodies into se…
Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
Ruiqian Nai, Boyuan Zheng, Junming Zhao +8
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and com…
Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planning
Yi Wang, Zeyu Xue, Mujie Liu +5
Teleoperation via natural-language reduces operator workload and enhances safety in high-risk or remote settings. However, in dynamic remote scenes, transmission latency during bid…
HuB: Learning Extreme Humanoid Balance
Tong Zhang, Boyuan Zheng, Ruiqian Nai +8
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precis…
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
Tong Zhang, Yingdong Hu, Jiacheng You +1
Given the high cost of collecting robotic data in the real world, sample efficiency is a consistently compelling pursuit in robotics. In this paper, we introduce SGRv2, an imitatio…
General Flow as Foundation Affordance for Scalable Robot Learning
Chengbo Yuan, Chuan Wen, Tong Zhang +1
We address the challenge of acquiring real-world manipulation skills with a scalable framework. We hold the belief that identifying an appropriate prediction target capable of leve…
Look Before You Leap: Unveiling the Power of GPT-4V in Robotic Vision-Language Planning
Yingdong Hu, Fanqi Lin, Tong Zhang +2
In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) posses…