相关论文: HoloMotion-1 Technical Report

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,…

This paper introduces OmniMotion-X, a versatile multimodal framework for whole-body human motion generation, leveraging an autoregressive diffusion transformer in a unified sequence-to-sequence manner. OmniMotion-X efficiently supports…

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…

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…

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…

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…

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…

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…

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…

Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…

Achieving versatile and naturalistic whole-body control for humanoid robot scene-interaction remains a significant challenge. While some recent works have demonstrated autonomous humanoid interactive control, they are constrained to rigid…

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…

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

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 loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on external motion capture systems or fail to generalize across…

We present a universal motion representation that encompasses a comprehensive range of motor skills for physics-based humanoid control. Due to the high dimensionality of humanoids and the inherent difficulties in reinforcement learning,…

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…

We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and…

Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on…