4 papers · 1 filter
Learning Context-Aware Motion Priors for Humanoid Control
Yunyang Mo, Yi Gu, Yangchen Zhou +2
Motion priors provide powerful guidance for learning naturalistic humanoid behaviors. However, existing methods typically learn a general, task-agnostic prior from the entire refer…
PFM-HR: Pose Flow Matching for Humanoid Robots
Yukang Gao, Yi Gu, Yangchen Zhou +9
Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for p…
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Xingyu Chen, Hanyu Wu, Sikai Wu +7
Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottleneck in robotics by utilizing abundant, large-scale human motion collect…
PDF-HR: Pose Distance Fields for Humanoid Robots
Yi Gu, Yukang Gao, Yangchen Zhou +7
Pose and motion priors play a crucial role in humanoid robotics. Although such priors have been widely studied in human motion recovery (HMR) domain with a range of models, their a…