Related papers: Switch-JustDance: Benchmarking Whole Body Motion T…

Recent releases such as o3 highlight human-like "thinking with images" reasoning that combines tool use with stepwise verification, yet most open-source approaches still rely on text-only chains, rigid visual schemas, or single-step…

Consistent pose-driven character animation has achieved remarkable progress in single-character scenarios. However, extending these advances to multi-character settings is non-trivial, especially when position swap is involved. Beyond mere…

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…

Recent advances in large-scale video world models have enabled increasingly realistic future prediction, raising the prospect of using generated videos as scalable supervision for robot learning. However, for embodied manipulation,…

We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…

We present CycleDance, a dance style transfer system to transform an existing motion clip in one dance style to a motion clip in another dance style while attempting to preserve motion context of the dance. Our method extends an existing…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittle process of tuning controllers. We introduce ZEST…

Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…

Unified audio-visual generation is rapidly gaining industrial and creative relevance, enabling applications in virtual production and interactive media. However, when moving from general audio-video synthesis to music-dance co-generation,…

Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…

Existing music-driven dance generation approaches have achieved strong realism and effective audio-motion alignment. However, they generally lack semantic controllability, making it difficult to guide specific movements through natural…

Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper…

Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

Generative models for audio-conditioned dance motion synthesis map music features to dance movements. Models are trained to associate motion patterns to audio patterns, usually without an explicit knowledge of the human body. This approach…