4 papers
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
Zekun Qi, Xuchuan Chen, Dairu Liu +10
We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrai…
Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
Zhikai Zhang, Haofei Lu, Yunrui Lian +12
Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors…
Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
Han Xue, Sikai Liang, Zhikai Zhang +7
We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, o…
Track Any Motions under Any Disturbances
Zhikai Zhang, Jun Guo, Chao Chen +10
A foundational humanoid motion tracker is expected to be able to track diverse, highly dynamic, and contact-rich motions. More importantly, it needs to operate stably in real-world…