5 papers
From Hitter to Player: Separating Motor Execution and Strategy in Competitive Humanoid Table Tennis
Fanrong Dong, Ziyi Sun, Ziqi Han +6
Competitive humanoid table tennis requires two distinct abilities: executing a desired return and deciding where to return the ball. We separate these two problems, with the ball l…
I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning
Ziqi Han, Yitang Li, Junhan Sun +8
Behavioral foundation models (BFMs) have recently shown that a single humanoid policy can support diverse whole-body control, but extending such generality to physical interaction…
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Lei Ye, Haibo Gao, Yitang Li +10
Diffusion models provide a flexible framework for motion generation, but turning this flexibility into closed-loop humanoid control remains challenging. Hierarchical generator-trac…
KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion
Lei Ye, Haibo Gao, Huaiguang Yang +6
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existin…
PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching
Lei Ye, Haibo Gao, Peng Xu +7
Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: a reliance on…