5 papers · 1 filter
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Pihai Sun, Gang Han, Jingkai Sun +17
Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies become fragile as perception and control errors accumulate. We pres…
RobotPan: A 360 Surround-View Robotic Vision System for Embodied Perception
Jiahao Ma, Qiang Zhang, Peiran Liu +11
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, an…
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
Zelin Tao, Zeran Su, Peiran Liu +13
Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to r…
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Qiang Zhang, Jiahao Ma, Peiran Liu +20
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-l…
Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots
Wei Cui, Haoyu Wang, Wenkang Qin +19
Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various percept…