Related papers: OmniTrack: General Motion Tracking via Physics-Con…
End-to-end human animation, such as audio-driven talking human generation, has undergone notable advancements in the recent few years. However, existing methods still struggle to scale up as large general video generation models, limiting…
Conventional multi-object tracking (MOT) systems are predominantly designed for pedestrian tracking and often exhibit limited generalization to other object categories. This paper presents a generalized tracking framework capable of…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
Existing visual trackers mainly operate in a non-interactive, fire-and-forget manner, making them impractical for real-world scenarios that require human-in-the-loop adaptation. To overcome this limitation, we introduce Interactive…
The automatic detection and tracking of general objects (like persons, animals or cars), text and logos in a video is crucial for many video understanding tasks, and usually real-time processing as required. We propose OmniTrack, an…
Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…
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,…
Physical intelligence holds immense promise for advancing embodied intelligence, enabling robots to acquire complex behaviors from demonstrations. However, achieving generalization and transfer across diverse robotic platforms and…
Pushing is a fundamental robotic skill. Existing work has shown how to exploit models of pushing to achieve a variety of tasks, including grasping under uncertainty, in-hand manipulation and clearing clutter. Such models, however, are…
Object-to-camera motion produces a variety of apparent motion patterns that significantly affect performance of short-term visual trackers. Despite being crucial for designing robust trackers, their influence is poorly explored in standard…
The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically favors a horizontal base orientation, while end-effector…
Long-horizon, high-dynamic motion tracking on humanoids remains brittle because absolute joint commands cannot compensate model-plant mismatch, leading to error accumulation. We propose RobotDancing, a simple, scalable framework that…
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on external motion capture systems or fail to generalize across…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…
Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the problem of cross-embodiment humanoid control and show that a…