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Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots
Tianchen Huang, Mingkuan Zhao, Yang Gao +8
Expressive whole-body motion is important for humanoid robots operating in human environments, where robots are expected to move stably while presenting readable and adjustable bod…
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
Tianchen Huang, Feiyang Yuan, Junchi Gu +5
Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial mo…
ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal
Shuo Shao, Tianchen Huang, Wei Gao +1
Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing…
SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles
Junchi Gu, Feiyang Yuan, Weize Shi +6
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably gener…
Physics-Guided Residual Reinforcement Learning for Humanoid Narrow-Path Traversal
Tianchen Huang, TianChen Huang, Sisheng Chen +10
Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-base…