相关论文: CReF: Cross-modal and Recurrent Fusion for Depth-c…

Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…

Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…

Training perceptive humanoid locomotion policies that traverse complex terrains with natural gaits remains an open challenge, typically demanding multi-stage training pipelines, adversarial objectives, or extensive real-world calibration.…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL…

Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…

We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal,…

Multimodal learning faces a fundamental tension between deep, fine-grained fusion and computational scalability. While cross-attention models achieve strong performance through exhaustive pairwise fusion, their quadratic complexity is…

Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly applying reinforcement learning (RL) with…

Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety constraints. Existing…

We propose to address quadrupedal locomotion tasks using Reinforcement Learning (RL) with a Transformer-based model that learns to combine proprioceptive information and high-dimensional depth sensor inputs. While learning-based locomotion…

We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion model of a quadrupedal magnetic climbing robot is incorporated…

Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However autonomous traversal of confined 3D environments including…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades performance on fine-grained tasks, and training a unified policy…

Automated personality and soft skill assessment from multimodal behavioral data remains challenging due to limited datasets and methods that fail to capture geometric structure inherent in human traits. We introduce RecruitView, a dataset…

This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or…

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…

4D modeling of human-object interactions is critical for numerous applications. However, efficient volumetric capture and rendering of complex interaction scenarios, especially from sparse inputs, remain challenging. In this paper, we…