Related papers: Humanoid Motion Scripting with Postural Synergies
Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
In 3D Human Motion Prediction (HMP), conventional methods train HMP models with expensive motion capture data. However, the data collection cost of such motion capture data limits the data diversity, which leads to poor generalizability to…
A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…
Generating realistic human motion is essential for many computer vision and graphics applications. The wide variety of human body shapes and sizes greatly impacts how people move. However, most existing motion models ignore these…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
Human Motion Prediction is a crucial task in computer vision and robotics. It has versatile application potentials such as in the area of human-robot interactions, human action tracking for airport security systems, autonomous car…
Generating human videos with realistic and controllable motions is a challenging task. While existing methods can generate visually compelling videos, they lack separate control over four key video elements: foreground subject, background…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Inspired by the strong ties between vision and language, the two intimate human sensing and communication modalities, our paper aims to explore the generation of 3D human full-body motions from texts, as well as its reciprocal task,…
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face prohibitive data collection costs.…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to…
Human motion prediction is a stochastic process: Given an observed sequence of poses, multiple future motions are plausible. Existing approaches to modeling this stochasticity typically combine a random noise vector with information about…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
Humanoid control is an important research challenge offering avenues for integration into human-centric infrastructures and enabling physics-driven humanoid animations. The daunting challenges in this field stem from the difficulty of…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…