相关论文: H-GAP: Humanoid Control with a Generalist Planner
We cast real-world humanoid control as a next token prediction problem, akin to predicting the next word in language. Our model is a causal transformer trained via autoregressive prediction of sensorimotor trajectories. To account for the…
Multi-output Gaussian process (MGP) models have attracted significant attention for their flexibility and uncertainty-quantification capabilities, and have been widely adopted in multi-source transfer learning scenarios due to their ability…
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…
Motion prediction systems aim to capture the future behavior of traffic scenarios enabling autonomous vehicles to perform safe and efficient planning. The evolution of these scenarios is highly uncertain and depends on the interactions of…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…
Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…
Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation and fail to account for the full complexity of human body…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…