4 papers
Partial Motion Imitation for Learning Cart Pushing with Legged Manipulators
Mili Das, Morgan Byrd, Donghoon Baek +1
Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. Howeve…
AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation
Morgan Byrd, Donghoon Baek, Kartik Garg +5
This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delive…
Switch-JustDance: Benchmarking Whole Body Motion Tracking Controllers Using a Commercial Console Game
Jeonghwan Kim, Wontaek Kim, Yidan Lu +9
Recent advances in whole-body robot control have enabled humanoid and legged robots to perform increasingly agile and coordinated motions. However, standardized benchmarks for eval…
Switch4EAI: Leveraging Console Game Platform for Benchmarking Robotic Athletics
Tianyu Li, Jeonghwan Kim, Wontaek Kim +3
Recent advances in whole-body robot control have enabled humanoid and legged robots to execute increasingly agile and coordinated movements. However, standardized benchmarks for ev…