4 papers · 1 filter
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…
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…
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
Yufeng Chi, Qiayuan Liao, Junfeng Long +5
Despite significant interest and advancements in humanoid robotics, most existing commercially available hardware remains high-cost, closed-source, and non-transparent within the r…
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang +5
This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of d…