4 papers · 1 filter
Humanoid Mobility via Attention-based Contacts
Junzhe He, Kehan Wen, Chong Zhang +7
Humanoid mobility over complex terrain requires accurate foot placement and coordinated whole-body motion capable of robust adaptation. Reinforcement learning (RL) policies trained…
JEPA-x: Cross-Predictive Physics Grounding for Forecastable Latent Dynamics
Kehan Wen, Ziming Li, Siyuan Luo +1
Latent world models plan by predicting how candidate actions advance learned latent dynamics. In self-predictive models, however, the encoder and predictor are optimized jointly an…
RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation
Pengzhi Yang, Xinyu Wang, Pengyu Jing +7
Reinforcement learning for robot manipulation is often bottlenecked by reward design, especially in long-horizon tasks: sparse success rewards provide weak supervision, while hand-…
Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
Zewei Zhang, Kehan Wen, Michael Xu +7
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard pe…