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cs.RO2025
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…
cs.RO2025
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…
cs.CV2025
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…