4 papers
Humanoid Policy ~ Human Policy
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng +12
Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot de…
AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
Jialong Li, Xuxin Cheng, Tianshu Huang +3
Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace: such as picking objects off the…
ExBody2: Advanced Expressive Humanoid Whole-Body Control
Mazeyu Ji, Xuanbin Peng, Fangchen Liu +4
This paper tackles the challenge of enabling real-world humanoid robots to perform expressive and dynamic whole-body motions while maintaining overall stability and robustness. We…
Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
Chenhao Lu, Xuxin Cheng, Jialong Li +6
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulat…