Related papers: SPRINT: Efficient Spectral Priors for Humanoid Ath…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
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,…
Any frequency selective device with an ongoing drift will cause observed spectra to be variously and simultaneously scaled in proportion to their source distances. The reason is that detectors after the drifting selection will integrate…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…
Deep learning-based trajectory prediction models have demonstrated promising capabilities in capturing complex interactions. However, their out-of-distribution generalization remains a significant challenge, particularly due to unbalanced…
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion libraries scale in diversity, tracking fidelity inevitably…
Predicting the behavior of road users accurately is crucial to enable the safe operation of autonomous vehicles in urban or densely populated areas. Therefore, there has been a growing interest in time series motion prediction research,…
Data Drift is the phenomenon where the generating model behind the data changes over time. Due to data drift, any model built on the past training data becomes less relevant and inaccurate over time. Thus, detecting and controlling for data…
Outdoor sports pose a challenge for people with impaired vision. The demand for higher-speed mobility inspired us to develop a vision-based wearable steering assistance. To ensure broad applicability, we focused on a representative sports…
Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…
Diffusion Transformers (DiTs) deliver state-of-the-art generative performance but their quadratic training cost with sequence length makes large-scale pretraining prohibitively expensive. Token dropping can reduce training cost, yet na\"ive…
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However, developing such controllers remains a significant…
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…
Motion ability is one of the most important human properties, including gait as a basis of human transitional movement. Gait, as a biometric for recognizing human identities, can be non-intrusively captured signals using wearable or…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidirectional terrain perception and reliable foothold selection.…
Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…
The integration of image and event streams offers a promising approach for achieving robust visual object tracking in complex environments. However, current fusion methods achieve high performance at the cost of significant computational…
Polyploidization is an important evolutionary process which affects organisms ranging from plants to fish and fungi. The signal left behind by it is in the form of a species' ploidy level (number of complete chromosome sets found in a cell)…