5 papers
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
Zhengyi Luo, Ye Yuan, Tingwu Wang +26
Despite the rise of billion-parameter foundation models trained across thousands of graphical processing units (GPUs), similar scaling gains have not been shown for humanoid contro…
MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives
Tingwu Wang, Olivier Dionne, Michael De Ruyter +13
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key…
CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
Sirui Chen, Zi-ang Cao, Zhengyi Luo +7
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform f…
VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
Tairan He, Zi Wang, Haoru Xue +11
A key barrier to the real-world deployment of humanoid robots is the lack of autonomous loco-manipulation skills. We introduce VIRAL, a visual sim-to-real framework that learns hum…
Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning
Zhengyi Luo, Chen Tessler, Toru Lin +8
Human behavior is fundamentally shaped by visual perception -- our ability to interact with the world depends on actively gathering relevant information and adapting our movements…