580 citations · 1.9k across the 92 of their papers we have counts for
5 papers · 2 filters
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Yanjie Ze, Siheng Zhao, Weizhuo Wang +6
Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effe…
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
Lujie Yang, Xiaoyu Huang, Zhen Wu +6
A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existin…
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Justin Kerr, Kush Hari, Ethan Weber +5
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that e…
PyRoki: A Modular Toolkit for Robot Kinematic Optimization
Chung Min Kim, Brent Yi, Hongsuk Choi +3
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present P…
Visual Imitation Enables Contextual Humanoid Control
Arthur Allshire, Hongsuk Choi, Junyi Zhang +7
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human…