相关论文: BFM-Zero: A Promptable Behavioral Foundation Model…

Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

Despite their success in numerous fields, the potential of foundation models for modeling and understanding human behavior remains largely unexplored. We introduce Be.FM, one of the first open foundation models designed for human behavior…

This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We…

Reinforcement learning (RL) requires access to a reward function that incentivizes the right behavior, but these are notoriously hard to specify for complex tasks. Preference-based RL provides an alternative: learning policies using a…

There are several challenges in developing a model for multi-tasking humanoid control. Reinforcement learning and imitation learning approaches are quite popular in this domain. However, there is a trade-off between the two. Reinforcement…

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…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

We present Bayesian Controller Fusion (BCF): a hybrid control strategy that combines the strengths of traditional hand-crafted controllers and model-free deep reinforcement learning (RL). BCF thrives in the robotics domain, where reliable…

Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrained: retargeted data are often scarce or low-quality;…

Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches…

This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex…

Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…

Robot learning has produced remarkably effective ``black-box'' controllers for complex tasks such as dynamic locomotion on humanoids. Yet ensuring dynamic safety, i.e., constraint satisfaction, remains challenging for such policies.…

Traditional model-based reinforcement learning (RL) methods generate forward rollout traces using the learnt dynamics model to reduce interactions with the real environment. The recent model-based RL method considers the way to learn a…

Video generation models are rapidly improving in their ability to synthesize human actions in novel contexts, holding the potential to serve as high-level planners for contextual robot control. To realize this potential, a key research…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Humans can perceive and reason about spatial relationships from sequential visual observations, such as egocentric video streams. However, how pretrained models acquire such abilities, especially high-level reasoning, remains unclear. This…