Related papers: CLONE: Closed-Loop Whole-Body Humanoid Teleoperati…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Humanoid loco-manipulation holds transformative potential for daily service and industrial tasks, yet achieving precise, robust whole-body control with 3D end-effector force interaction remains a major challenge. Prior approaches are often…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
In this report, we present HoloMotion-1, a humanoid motion foundation model for zero-shot whole-body motion tracking. A key innovation of HoloMotion-1 is to scale control-policy training with a large-scale hybrid motion corpus, where…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and the robotic arm of a wheeled-quadrupedal manipulator robot…
Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…
Multimodal medical image segmentation often faces missing modalities at inference, which induces disagreement among modality experts and makes fusion unstable, particularly on small foreground structures. We propose Consistency Learning of…
Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
Humanoid loco-manipulation requires executing precise manipulation tasks while maintaining dynamic stability amid base motion and impacts. Existing approaches typically formulate commands in body-centric frames, fail to inherently correct…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
Despite the rise of billion-parameter foundation models trained across thousands of GPUs, similar scaling gains have not been shown for humanoid control. Current neural controllers for humanoids remain modest in size, target a limited set…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…