5 papers
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
Siqiao Huang, Kun-Ying Lee, Dongming Qiao +5
Humanoid whole-body control has made significant progress in recent years, yet existing approaches remain limited to few-skill policies with heavy reward engineering, or motion tra…
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation
Chengbo Yuan, Suraj Joshi, Shaoting Zhu +3
Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as c…
VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
Shaoting Zhu, Linzhan Mou, Derun Li +3
Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges whe…
MoE-Loco: Mixture of Experts for Multitask Locomotion
Runhan Huang, Shaoting Zhu, Yilun Du +1
We present MoE-Loco, a Mixture of Experts (MoE) framework for multitask locomotion for legged robots. Our method enables a single policy to handle diverse terrains, including bars,…
SARO: Space-Aware Robot System for Terrain Crossing via Vision-Language Model
Shaoting Zhu, Derun Li, Linzhan Mou +3
The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks. However, there are few explorations for these foundation models used in…