3 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.LG2025
Discrete Variational Autoencoding via Policy Search
Michael Drolet, Firas Al-Hafez, Aditya Bhatt +2
Discrete latent bottlenecks in variational autoencoders (VAEs) offer high bit efficiency and can be modeled with autoregressive discrete distributions, enabling parameter-efficient…
cs.RO2024
MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench
Moritz Meser, Aditya Bhatt, Boris Belousov +1
We tackle the recently introduced benchmark for whole-body humanoid control HumanoidBench using MuJoCo MPC. We find that sparse reward functions of HumanoidBench yield undesirable…