Related papers: OmniDP: Beyond-FOV Large-Workspace Humanoid Manipu…
Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-based perception approaches often struggle with sensor noise,…
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, provable safety, and socially aware behavior. Current…
The visuomotor policy can easily overfit to its training datasets, such as fixed camera positions and backgrounds. This overfitting makes the policy perform well in the in-distribution scenarios but underperform in the out-of-distribution…
Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…
Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception…
Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a 2D-3D mismatch that hinders spatial reasoning and degrades…
As virtual reality gains popularity, the demand for controllable creation of immersive and dynamic omnidirectional videos (ODVs) is increasing. While previous text-to-ODV generation methods achieve impressive results, they struggle with…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…
Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with…
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…
Visuomotor policy learning has witnessed substantial progress in robotic manipulation, with recent approaches predominantly relying on generative models to model the action distribution. However, these methods often overlook the critical…
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…
Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…
Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observations, resulting in brittle behavior under appearance shifts such as background changes and object recoloring. We propose a…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
Mobile manipulation is a fundamental capability that enables robots to interact in expansive environments such as homes and factories. Most existing approaches follow a two-stage paradigm, where the robot first navigates to a docking point…