Related papers: Scalable Trajectory Generation for Whole-Body Mobi…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provide efficient and formally certified collision risk…
Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in locomotion and whole-body tracking have enabled impressive…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
The adaptability of soft robots makes them ideal candidates to maneuver through unstructured environments. However, locomotion challenges arise due to complexities in modeling the body mechanics, actuation, and robot-environment dynamics.…
Human motion generation, a cornerstone technique in animation and video production, has widespread applications in various tasks like text-to-motion and music-to-dance. Previous works focus on developing specialist models tailored for each…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Training multimodal large language models (MLLMs) for video understanding requires large-scale annotated data spanning diverse tasks such as object counting, question answering, and segmentation. However, collecting and annotating…
Current human motion synthesis frameworks rely on global action descriptions, creating a modality gap that limits both motion understanding and generation capabilities. A single coarse description, such as run, fails to capture details such…
Autonomous-driving simulators typically trade physical fidelity for scalable parallelism. Physics-based platforms such as CARLA and MetaDrive provide articulated vehicle dynamics and contact, but their non-vectorized interfaces make batched…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting…
Modern machine learning systems rely on large datasets to attain broad generalization, and this often poses a challenge in robot learning, where each robotic platform and task might have only a small dataset. By training a single policy…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
We present a low-cost data generation pipeline that integrates physics-based simulation, human demonstrations, and model-based planning to efficiently generate large-scale, high-quality datasets for contact-rich robotic manipulation tasks.…
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
Recent progress in large models has led to significant advances in unified multimodal generation and understanding. However, the development of models that unify motion-language generation and understanding remains largely underexplored.…