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cs.RO2026
DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors
Sudarshan Harithas, Sangkyung Kwak, Pushkal Katara +6
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to…
cs.RO2025
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara +7
We introduce DreamControl, a novel methodology for learning autonomous whole-body humanoid skills. DreamControl leverages the strengths of diffusion models and Reinforcement Learni…
cs.RO2025
MotionGlot: A Multi-Embodied Motion Generation Model
Sudarshan Harithas, Srinath Sridhar
This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By lever…