11 papers
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
World Model for Robot Learning: A Comprehensive Survey
Bohan Hou, Gen Li, Jindou Jia +15
World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planni…
Learning Humanoid Navigation from Human Data
Weizhuo Wang, Yanjie Ze, C. Karen Liu +1
We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or fi…
VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
Shaofeng Yin, Yanjie Ze, Hong-Xing Yu +2
Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on ext…
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Yanjie Ze, Siheng Zhao, Weizhuo Wang +6
Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effe…
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
Siheng Zhao, Yanjie Ze, Yue Wang +4
Humanoid whole-body loco-manipulation promises transformative capabilities for daily service and warehouse tasks. While recent advances in general motion tracking (GMT) have enable…