Related papers: HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cro…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become…
Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…
Reliable terrain perception is a critical prerequisite for the deployment of humanoid robots in unstructured, human-centric environments. While traditional systems often rely on manually engineered, single-sensor pipelines, this paper…
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…
Humanoid robots have significant gaps in their sensing and perception, making it hard to perform motion planning in dense environments. To address this, we introduce ARMOR, a novel egocentric perception system that integrates both hardware…
This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework…
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow…
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
Low-cost, vision-centric 3D perception systems for autonomous driving have made significant progress in recent years, narrowing the gap to expensive LiDAR-based methods. The primary challenge in becoming a fully reliable alternative lies in…
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
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 challenge. In particular, agile parkour in complex…
Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…