5 papers
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
Hongming Chen, Zhuoran Li, Hongxi Wang +9
Existing humanoid whole-body control systems still fall short of the way humans move through cluttered terrain: they either track expressive whole-body references without terrain g…
Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
Yixuan Pan, Ruoyi Qiao, Li Chen +8
Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in l…
Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning
Chunxin Zheng, Kai Chen, Zhihai Bi +5
Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-eff…
DiffI2P: Differentiable Image-to-Point Cloud Registration with Diffusion Prior
Juncheng Mu, Chengwei Ren, Weixiang Zhang +3
Learning cross-modal correspondences is essential for image-to-point cloud (I2P) registration. Existing methods achieve this mostly by utilizing metric learning to enforce feature…
Closely Interactive Human Reconstruction with Proxemics and Physics-Guided Adaption
Buzhen Huang, Chen Li, Chongyang Xu +3
Existing multi-person human reconstruction approaches mainly focus on recovering accurate poses or avoiding penetration, but overlook the modeling of close interactions. In this wo…