5 papers
PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning
Haoyang Li, Yang You, Hao Su +1
Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction an…
HierKick: Hierarchical Reinforcement Learning for Vision-Guided Soccer Robot Control
Yizhi Chen, Zheng Zhang, Zhanxiang Cao +7
Controlling soccer robots involves multi-time-scale decision-making, which requires balancing long-term tactical planning and short-term motion execution. Traditional end-to-end re…
FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation
Yang Zhang, Jianming Ma, Liyun Yan +4
Robust local navigation in unstructured and dynamic environments remains a significant challenge for humanoid robots, requiring a delicate balance between long-range navigation tar…
Keep on Going: Learning Robust Humanoid Motion Skills via Selective Adversarial Training
Yang Zhang, Zhanxiang Cao, Buqing Nie +6
Humanoid robots are expected to operate reliably over long horizons while executing versatile whole-body skills. Yet Reinforcement Learning (RL) motion policies typically lose stab…
Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots
Zhanxiang Cao, Yang Zhang, Buqing Nie +3
Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coa…