6 papers
Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
Yufei Xue, YunFeng Lin, Wentao Dong +6
Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the proble…
UniCon: A Unified System for Efficient Robot Learning Transfers
Yunfeng Lin, Li Xu, Yong Yu +2
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these i…
Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
Quanquan Peng, Yunfeng Lin, Yufei Xue +2
Humanoid Whole-Body Controllers trained with reinforcement learning (RL) have recently achieved remarkable performance, yet many target a single robot embodiment. Variations in dyn…
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer
Yunfeng Lin, Minghuan Liu, Yufei Xue +4
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However…
Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
Minghuan Liu, Zhengbang Zhu, Xiaoshen Han +12
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D…
D4W: Dependable Data-Driven Dynamics for Wheeled Robots
Yunfeng Lin, Minghuan Liu, Yong Yu
Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of buil…