5 papers
Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion
Ziyun Liu, Sikai Guo, Zheng Li +6
Humanoid robots are expected to traverse complex terrains, where the plantar support may vary dramatically due to foot placement errors, ground properties, and transient dynamics.…
FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
Yudong Zhong, Pengfei Mai, Sikai Guo +6
Legged manipulators combine the mobility of legged platforms with the manipulation capability of robotic arms. However, arm-induced Center-of-Mass shifts and dynamic disturbances m…
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
Sikai Guo, Yudong Zhong, Guoyang Zhao +3
Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, which make them highly promising for deployment in human-centric environ…
Real-to-Sim for Highly Cluttered Environments via Physics-Consistent Inter-Object Reasoning
Tianyi Xiang, Jiahang Cao, Sikai Guo +3
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios…
RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation
Haichao Liu, Sikai Guo, Pengfei Mai +3
This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previ…