Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …

Robotics can play a useful role in the scientific understanding of the sense of self, both
through the construction of embodied models of the self and through the use of robots as …

We propose a structured prediction approach for robot imitation learning from
demonstrations. Among various tools for robot imitation learning, supervised learning has …

Robotic avatar systems can enable immersive telepresence with locomotion, manipulation,
and communication capabilities. We present such an avatar system, based on the key …

Robot teleoperation, a control method allowing human operators to manipulate robotic
systems remotely, has become increasingly popular in construction applications. A …

Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-
manipulation, and tabletop manipulation, each demanding a different mode of control. For …

This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

This paper describes the cybernetic avatar system developed by Team JANUS for
connectivity, exploration, and skill transfer: the core domains targeted by the ANA Avatar …

We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that
enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB …

This paper reports on Team Northeastern's Avatar system for telepresence, and our holistic
approach to meet the ANA Avatar XPRIZE Final testing task requirements. The system …