From the 2 of 52 linked papers with an AI index.
37 papers · 1 filter
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Yen-Jen Wang, Jiaman Li, Sirui Chen +9
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egoc…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…
LadderMan: Learning Humanoid Perceptive Ladder Climbing
Siheng Zhao, Yuanhang Zhang, Ziqi Lu +6
Humanoid robots hold great promise for operating in human-centered environments, yet ladder climbing remains one of the most challenging tasks due to sparse footholds and handholds…
Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
Zhen Wu, Xiaoyu Huang, Lujie Yang +8
While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open c…
A Ray Intersection Algorithm for Fast Growth Distance Computation Between Convex Sets
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss an efficient algorithm for computing the growth distance between two compact convex sets with representable support functions. The growth distance between…
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
Hanwen Wang, Qiayuan Liao, Bike Zhang +3
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limi…