相关论文: SCRIPT: Scalable Diffusion Policy with Multi-stage…

Enabling physics-based humanoids to execute diverse behaviors from high-level textual commands remains a significant challenge. Existing methods typically follow either a two-stage paradigm that combines kinematic motion generation with…

Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

Text-conditioned human motion generation, which allows for user interaction through natural language, has become increasingly popular. Existing methods typically generate short, isolated motions based on a single input sentence. However,…

Motion diffusion models and Reinforcement Learning (RL) based control for physics-based simulations have complementary strengths for human motion generation. The former is capable of generating a wide variety of motions, adhering to…

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…

Simulating stylized human-scene interactions (HSI) in physical environments is a challenging yet fascinating task. Prior works emphasize long-term execution but fall short in achieving both diverse style and physical plausibility. To tackle…

Recent advances in Reinforcement Learning (RL) have underscored its potential for incentivizing reasoning capabilities of Large Language Models (LLMs). However, existing step-level efforts suffer from costly annotations that limit domain…

Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to complex, interaction-rich manipulation tasks is harder…

Text-driven multi-human motion generation with complex interactions remains a challenging problem. Despite progress in performance, existing offline methods that generate fixed-length motions with a fixed number of agents, are inherently…

Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to multi-robot settings with flexible, language-conditioned task…

The growing disparity between the exponential scaling of computational resources and the finite growth of high-quality text data now constrains conventional scaling approaches for large language models (LLMs). To address this challenge, we…

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…

Teaching robots desired skills in real-world environments remains challenging, especially for non-experts. A key bottleneck is that collecting robotic data often requires expertise or specialized hardware, limiting accessibility and…

The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…

Diffusion models promise efficient parallel text generation but rely on bidirectional attention, creating a structural mismatch with pre-trained Autoregressive (AR) models. This incompatibility precludes reusing robust AR priors,…

Diffusion models have recently advanced human motion generation, producing realistic and diverse animations from textual prompts. However, adapting these models to unseen actions or styles typically requires additional motion capture data…

Synthesizing natural human motion that adapts to complex environments while allowing creative control remains a fundamental challenge in motion synthesis. Existing models often fall short, either by assuming flat terrain or lacking the…

Generating realistic simulations is critical for autonomous system applications such as self-driving and human-robot interactions. However, driving simulators nowadays still have difficulty in generating controllable, diverse, and…

This paper presents Scalable Semantic Transfer (SST), a novel training paradigm, to explore how to leverage the mutual benefits of the data from different label domains (i.e. various levels of label granularity) to train a powerful human…