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cs.RO2026
Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control
Weisheng Xu, Qiwei Wu, Jiaxi Zhang +7
Physics-based humanoid control relies on training with motion datasets that have diverse data distributions. However, the fixed difficulty distribution of datasets limits the perfo…
cs.RO2025
HERO: Hierarchical Traversable 3D Scene Graphs for Embodied Navigation Among Movable Obstacles
Yunheng Wang, Yixiao Feng, Yuetong Fang +5
3D Scene Graphs (3DSGs) constitute a powerful representation of the physical world, distinguished by their abilities to explicitly model the complex spatial, semantic, and function…
cs.RO2025
FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control
Tan Jing, Shiting Chen, Yangfan Li +2
Unified physics-based humanoid controllers are pivotal for robotics and character animation, yet models that excel on gentle, everyday motions still stumble on explosive actions, h…