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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…
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
Zhengyi Luo, Ye Yuan, Tingwu Wang +26
Despite the rise of billion-parameter foundation models trained across thousands of graphical processing units (GPUs), similar scaling gains have not been shown for humanoid contro…
MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives
Tingwu Wang, Olivier Dionne, Michael De Ruyter +13
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key…