7 papers
-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
Zhe Li, Zhenzhe Zhang, Yangyang Wei +8
Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated beh…
OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
Yunshen Wang, Shaohang Zhu, Peiyuan Zhi +7
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion…
OmniTrack: General Motion Tracking via Physics-Consistent Reference
Yuhan Li, Peiyuan Zhi, Yunshen Wang +6
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, d…
Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
Peiyuan Zhi, Peiyang Li, Jianqin Yin +2
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visu…
Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V
Peiyuan Zhi, Zhiyuan Zhang, Yu Zhao +6
Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. In this work, we present COME-robot, the first closed-…
SYNERGAI: Perception Alignment for Human-Robot Collaboration
Yixin Chen, Guoxi Zhang, Yaowei Zhang +4
Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook t…