4 papers
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…
HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning
Zhi Su, Bike Zhang, Nima Rahmanian +5
Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic env…
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
Zhi Su, Yuman Gao, Emily Lukas +8
Achieving coordinated teamwork among legged robots requires both fine-grained locomotion control and long-horizon strategic decision-making. Robot soccer offers a compelling testbe…
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
Yiyang Shao, Xiaoyu Huang, Bike Zhang +6
General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life. Natural language provides the most accessible mediu…