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Humanoid robots remain vulnerable to falls and unrecoverable failure states, limiting their practical utility in unstructured environments. While reinforcement learning has demonstrated stand-up behaviors, existing approaches treat recovery…
Generating digital humans that move realistically has many applications and is widely studied, but existing methods focus on the major limbs of the body, ignoring the hands and head. Hands have been separately studied, but the focus has…
We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…
Video-to-video synthesis is a challenging problem aiming at learning a translation function between a sequence of semantic maps and a photo-realistic video depicting the characteristics of a driving video. We propose a head-to-head system…
This paper presents a shared-control rehabilitation policy for a custom 6-degree-of-freedom (6-DoF) upper-limb robot that decomposes complex reaching tasks into decoupled spatial axes. The patient governs the primary reaching direction…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on…
We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…
Effective human-robot interaction requires emotionally rich multimodal expressions, yet most humanoid robots lack coordinated speech, facial expressions, and gestures. Meanwhile, real-world deployment demands on-device solutions that can…
Specifying nuanced and compelling camera motion remains a significant hurdle for non-expert creators using generative tools, creating an "expressive gap" where generic text prompts fail to capture cinematic vision. This barrier limits…
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…
Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids experience high-energy impacts, complex whole-body contact, and large viewpoint changes during a fall,…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly applying reinforcement learning (RL) with…
Recent advances in customized video generation have enabled users to create videos tailored to both specific subjects and motion trajectories. However, existing methods often require complicated test-time fine-tuning and struggle with…
Video data is more cost-effective than motion capture data for learning 3D character motion controllers, yet synthesizing realistic and diverse behaviors directly from videos remains challenging. Previous approaches typically rely on…
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…
Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…