6 papers
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
Tianyi Xie, Haotian Zhang, Jinhyung Park +17
Scaling humanoid loco-manipulation requires robot-compatible demonstrations across diverse objects, whole-body motions, and scene geometries, but teleoperation and motion capture a…
On Scaling Up 3D Gaussian Splatting Training
Hexu Zhao, Haoyang Weng, Daohan Lu +4
3D Gaussian Splatting (3DGS) is increasingly popular for 3D reconstruction due to its superior visual quality and rendering speed. However, 3DGS training currently occurs on a sing…
BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
Yitang Li, Zhengyi Luo, Tonghe Zhang +10
Building Behavioral Foundation Models (BFMs) for humanoid robots has the potential to unify diverse control tasks under a single, promptable generalist policy. However, existing ap…
HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
Haoyang Weng, Yitang Li, Nikhil Sobanbabu +5
Enabling robust whole-body humanoid-object interaction (HOI) remains challenging due to motion data scarcity and the contact-rich nature. We present HDMI (HumanoiD iMitation for In…
Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
Yitang Li, Yuanhang Zhang, Wenli Xiao +5
Can your humanoid walk up and hand you a full cup of beer, without spilling a drop? While humanoids are increasingly featured in flashy demos like dancing, delivering packages, tra…
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
Botian Xu, Haoyang Weng, Qingzhou Lu +2
Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, t…