5 papers
Extending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling
Yucheng Tao, Shaowen Cheng, Guorong Lan +3
Achieving high-speed locomotion in quadrupedal robots remains highly challenging, as actuators operate near their physical limits and exhibit pronounced nonlinearities. However, ma…
Expressive Robotic Pianist: Mastering Complex Piano Repertoire with Graph-Mimic and Musical Dynamics
Yanhong Liang, Xianwei Liu, Chaojie Fu +7
Enabling robots to perform musical instruments with human-level expressivity represents a frontier in bridging the gap between mechanical precision and artistic interpretation. Des…
PGMT: Perceptive General Motion Tracking for Humanoid Robots
Hongyi Li, Li Peizhuo, Yucheng Tao +9
Humanoid motion trackers can reproduce diverse whole-body motions, but their performance degrades on complex terrain where terrain-agnostic references become physically infeasible.…
SWAP: Symmetric Equivariant World-Model for Agile Robot Parkour
Kaixin Lan, Ze Wang, Hongyi Li +6
While latent world models enable the proactive predictions required for extreme parkour, their purely data-driven nature forces them to redundantly encode left-right symmetric inte…
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
Peizhuo Li, Hongyi Li, Mingfeng Fan +13
Agile humanoid locomotion across diverse challenging terrain demands both wide perceptual coverage and precise local geometry understanding. Motivated by the way humans selectively…