3 citations · 4 across the 9 of their papers we have counts for
4 papers · 1 filter
CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
Sirui Chen, Zi-ang Cao, Zhengyi Luo +7
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform f…
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
Zhengyi Luo, Ye Yuan, Tingwu Wang +25
Despite the rise of billion-parameter foundation models trained across thousands of graphical processing units (GPUs), similar scaling gains have not been shown for humanoid contro…
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Sirui Chen, Yufei Ye, Zi-Ang Cao +3
We propose Hand-Eye Autonomous Delivery (HEAD), a framework that learns navigation, locomotion, and reaching skills for humanoids, directly from human motion and vision perception…
GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty
Sirui Chen, Sergio Aguilera Marinovic, Soshi Iba +1
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactil…