9 papers
Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
Jipeng Kong, Xinzhe Liu, Yuhang Lin +4
Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body bal…
Differential Barometric Altimetry for Submeter Vertical Localization and Floor Recognition Indoors
Yuhang Zhang, Sören Schwertfeger
Accurate altitude estimation and reliable floor recognition are critical for mobile robot localization and navigation within complex multi-storey environments. In this paper, we pr…
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
Jiyuan Shi, Xinzhe Liu, Dewei Wang +6
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches…
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
Xin Duan, Ziwen Zhuang, Hang Zhao +1
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touche…
RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
Yumeng Liu, Yaxun Yang, Youzhuo Wang +9
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and mul…
Benchmarking SLAM Algorithms in the Cloud: The SLAM Hive Benchmarking Suite
Xinzhe Liu, Yuanyuan Yang, Bowen Xu +2
Evaluating the performance of Simultaneous Localization and Mapping (SLAM) algorithms is essential for scientists and users of robotic systems alike. But there are a multitude of d…