4 papers
A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
Zhenghan Chen, Haodong Zhang, Dongqi Wang +4
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-l…
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
Zhenghan Chen, Haocheng Xu, Haodong Zhang +7
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are…
EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation
Haocheng Xu, Haodong Zhang, Zhenghan Chen +1
To support humanoid robots in performing manipulation tasks, it is essential to study stable standing while accommodating upper-body motions. However, the limited controllable rang…
Semantics-aware Motion Retargeting with Vision-Language Models
Haodong Zhang, ZhiKe Chen, Haocheng Xu +6
Capturing and preserving motion semantics is essential to motion retargeting between animation characters. However, most of the previous works neglect the semantic information or r…