5 papers · 1 filter
Hilbert-Scale Stability of Posterior Diffusion Priors for Ill-Posed Signal Recovery
Bahman Moraffah, Raha Moraffah
Indirect and noisy observations are difficult to invert when the forward operator smooths out the unknown signal. In this case, the unstable modes are precisely the modes that the…
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Yucheng Xin, Jiacheng Bao, Yubo Dong +5
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challengin…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
Yucheng Xin, Jiacheng Bao, Haoran Yang +6
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research…
PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
Jiacheng Bao, Haoran Yang, Yucheng Xin +7
Humanoid robots are expected to execute agile and expressive whole-body motions in real-world settings. Existing text-to-motion generation models are predominantly trained on captu…
ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data
Haoran Yang, Jiacheng Bao, Yucheng Xin +5
Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high cost of whole-body teleoperation data. We present ZeroWBC, a teleoperati…