6 papers
Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
Shibowen Zhang, Jiayang Wu, Guannan Liu +12
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offl…
Parallel Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
Jiadong Lu, Zhehan Li, Tao Han +3
Accurate relative localization is critical for multi-robot cooperation. In robot swarms, measurements from different robots arrive asynchronously and with clock time-offsets. Altho…
Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control
Weidong Huang, Zhehan Li, Hangxin Liu +3
Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel…
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Zhehan Li, Zheng Wang, Jiadong Lu +6
Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suf…
Mr. Virgil: Learning Multi-robot Visual-range Relative Localization
Si Wang, Zhehan Li, Jiadong Lu +3
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between rob…
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
Sixu Yan, Zeyu Zhang, Muzhi Han +7
Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and sk…