相关论文: SONIC: Supersizing Motion Tracking for Natural Hum…

Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperation due to interface- and dynamics-induced errors. We present…

One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid…

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…

This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows humanoid robots to follow human body using the massive…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Data scaling has long remained a critical bottleneck in robot learning. For humanoid robots, human videos and motion data are abundant and widely available, offering a free and large-scale data source. Besides, the semantics related to the…

Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperation to achieve whole-body control, they are often limited by…

The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…

Deep Reinforcement Learning (RL) has emerged as a promising method to develop humanoid robot locomotion controllers. Despite the robust and stable locomotion demonstrated by previous RL controllers, their behavior often lacks the natural…

Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper…

Humanoid whole-body loco-manipulation promises transformative capabilities for daily service and warehouse tasks. While recent advances in general motion tracking (GMT) have enabled humanoids to reproduce diverse human motions, these…

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary…

Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, discrepancies in morphology and dynamics between humans and…

Learning a general humanoid whole-body controller is challenging because practical reference motions can exhibit noise and inconsistencies after being transferred to the robot domain, and local defects may be amplified by closed-loop…

Real-time tracking of human body motion is crucial for interactive and immersive experiences in AR/VR. However, very limited sensor data about the body is available from standalone wearable devices such as HMDs (Head Mounted Devices) or AR…

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

Progress in embodied intelligence increasingly depends on scalable data infrastructure. While vision and language have scaled with internet corpora, learning physical interaction remains constrained by the lack of large, diverse, and richly…

Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterity yields a state space that grows…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…

Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…