2 papers
cs.RO2026
Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception
Aditya Bhatt, Oleg Kaidanov, Puze Liu +1
We present blind, whole-body manipulation skills on a Unitree G1 humanoid using only onboard proprioception, without cameras, markers, force-torque, or tactile sensors. Despite thi…
cs.RO2024
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control
Oleg Kaidanov, Firas Al-Hafez, Yusuf Suvari +2
Humanoids have the potential to be the ideal embodiment in environments designed for humans. Thanks to the structural similarity to the human body, they benefit from rich sources o…