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cs.LG2026
LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation
Cheng Guo, Mingzhe Ni, Angelo Cangelosi +1
Long-horizon humanoid loco-manipulation requires composing versatile whole-body skills and reliable high-level decision making. Existing methods often coordinate pretrained skills…
cs.LG2025
Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs
Cheng Guo, Giuseppe L'Erario, Giulio Romualdi +4
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-t…