6 papers
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
Boyi Liu, Qijin Li, Tianqi Yu +2
FastSAC-style methods significantly reduce humanoid motion training time but often suffer from notable performance degradation compared with PPO in whole-body tracking tasks. We ta…
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
Zuxing Lu, Ziang Zheng, Yao Lyu +7
Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomot…
VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
Xiaolei Lang, Yang Wang, Yukun Zhou +10
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling th…
EgoFlow: Gradient-Guided Flow Matching for Egocentric 6DoF Object Motion Generation
Abhishek Saroha, Huajian Zeng, Xingxing Zuo +2
Understanding and predicting object motion from egocentric video is fundamental to embodied perception and interaction. However, generating physically consistent 6DoF trajectories…
SC-Diff: 3D Shape Completion with Latent Diffusion Models
Simon Schaefer, Juan D. Galvis, Xingxing Zuo +1
We present a novel 3D shape completion framework that unifies multimodal conditioning, leveraging both 2D images and 3D partial scans through a latent diffusion model. Shapes are r…
NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields
Jens Naumann, Binbin Xu, Stefan Leutenegger +1
We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance sce…