4 papers · 1 filter
CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising
Hongjin Chen, Zijun Xu, Shihao Ma +8
Humanoid locomotion across complex terrain demands forward-looking exteroception to anticipate obstacles, yet this signal is unreliable in real-world deployment, failing partially…
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Hongjin Chen, Wei Zhang, Pengfei Li +10
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancement…
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy…
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang +2
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of tas…