4 papers
STEP: Spatiotemporal Training with Explicit Prediction for Perceptive Humanoid Locomotion
Youhao Lyu, Chenghao Sun, Zhenxuan Ding +3
For perceptive humanoid locomotion, the relevance of terrain geometry depends on the robot's body state and how both evolve under its actions. Existing work has advanced terrain-aw…
Terrain-Indexed Motion Priors and Geometric Support for Extreme Humanoid Parkour
Chenghao Sun, Youhao Lyu, Zizheng Li +3
We present a progressive imitation framework that learns terrain-appropriate humanoid parkour skills and subsequently adapts their hand--knee support. Human demonstrations provide…
Push the Limit: Learning High-Speed Sprinting and Aggressive Cornering on a Full-Scale Humanoid
Huaxing Huang, Ruidong Li, Jinchao Han +2
We present a learning-based framework that enables a full-scale bipedal humanoid to sprint at over 7 m/s with motion-prior-guided gait and perform aggressive cornering at high spee…
Think on your feet: Seamless Transition between Human-like Locomotion in Response to Changing Commands
Huaxing Huang, Wenhao Cui, Tonghe Zhang +11
While it is relatively easier to train humanoid robots to mimic specific locomotion skills, it is more challenging to learn from various motions and adhere to continuously changing…