6 papers
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu +8
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a…
Humanoid Policy ~ Human Policy
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng +12
Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot de…
ExBody2: Advanced Expressive Humanoid Whole-Body Control
Mazeyu Ji, Xuanbin Peng, Fangchen Liu +4
This paper tackles the challenge of enabling real-world humanoid robots to perform expressive and dynamic whole-body motions while maintaining overall stability and robustness. We…
Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
Chenhao Lu, Xuxin Cheng, Jialong Li +6
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulat…
WildLMa: Long Horizon Loco-Manipulation in the Wild
Ri-Zhao Qiu, Yuchen Song, Xuanbin Peng +8
'In-the-wild' mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations…
Learning Generalizable Feature Fields for Mobile Manipulation
Ri-Zhao Qiu, Yafei Hu, Yuchen Song +8
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires c…