相关论文: Hold My Beer: Learning Gentle Humanoid Locomotion …
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our…
Robust local navigation in unstructured and dynamic environments remains a significant challenge for humanoid robots, requiring a delicate balance between long-range navigation targets and immediate motion stability. In this paper, we…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Enabling humanoid robots to follow free-form natural language commands is a critical step toward seamless human-robot interaction and general-purpose embodied AI. However, existing methods remain limited, often constrained to simple…
Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the…
Humanoid robots promise transformative capabilities for industrial and service applications. While recent advances in Reinforcement Learning (RL) yield impressive results in locomotion, manipulation, and navigation, the proposed methods…
Rigid robots were extensively researched, whereas soft robotics remains an underexplored field. Utilizing soft-legged robots in performing tasks as a replacement for human beings is an important stride to take, especially under harsh and…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…
A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control…