5 papers
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Anujith Muraleedharan, Abdul Ahad Butt, Nolan Fey +5
Humanoid robots operating in unstructured environments must combine robust whole-body control with the ability to perceive and physically interact with surrounding objects. While l…
Streaming Multi-Track Timeline Control for 3D Human Motion Generation
Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +3
Text-driven human motion generation has advanced substantially, yet most methods assume instructions are available before synthesis. Interactive applications require responding to…
PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization
Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +5
Recent progress in text-conditioned human motion generation has been largely driven by diffusion models trained on large-scale human motion data. Building on this progress, recent…
U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retargeting for Robotic Manipulation
Anamika J H, Anujith Muraleedharan
Robots manipulating in changing environments must act on percepts that are late, noisy, or stale. We present U-LAG, a mid-execution goal-retargeting layer that leaves the low-level…
Selective Progress-Aware Querying for Human-in-the-Loop Reinforcement Learning
Anujith Muraleedharan, Anamika J H
Human feedback can greatly accelerate robot learning, but in real-world settings, such feedback is costly and limited. Existing human-in-the-loop reinforcement learning (HiL-RL) me…