5 papers
LocoManiLab: A Unified Testbed for Data, Policies, Controllers, and Deployment in Humanoid Loco-Manipulation
Dewei Wang, Jinrui Han, Jiyuan Shi +9
Humanoid robots must coordinate locomotion and manipulation in everyday environments, yet progress is difficult to assess across differing policies, controllers, and task settings.…
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
Jinrui Han, Dewei Wang, Chenyun Zhang +4
While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interacti…
Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
Junli Ren, Junfeng Long, Tao Huang +7
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on qua…
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception
Junli Ren, Tao Huang, Huayi Wang +6
The performance of legged locomotion is closely tied to the accuracy and comprehensiveness of state observations. Blind policies, which rely solely on proprioception, are considere…
Learning Humanoid Locomotion with Perceptive Internal Model
Junfeng Long, Junli Ren, Moji Shi +4
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degre…