4 papers · 1 filter
A Change of Frame Makes Balance Observable: Distillation-Free Humanoid Single-Leg Stance
Yikai Zhou, Xingyun Wang, Jieming Cui +4
Unified humanoid policies handle agile whole-body motion, yet stumble on a simple demand: staying balanced on one leg. On our single-leg-balance benchmark, eight released state-of-…
OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
Yixuan Li, Le Ma, Yutang Lin +8
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstratio…
LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations
Yutang Lin, Jieming Cui, Yixuan Li +3
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on referenc…
CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
Yixuan Li, Yutang Lin, Jieming Cui +4
Humanoid teleoperation plays a vital role in demonstrating and collecting data for complex humanoid-scene interactions. However, current teleoperation systems face critical limitat…