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Mimicking-bench: A benchmark for generalizable humanoid-scene interaction learning via human mimicking
Learning generic skills for humanoid robots interacting with 3D scenes by mimicking human
data is a key research challenge with significant implications for robotics and real-world …
data is a key research challenge with significant implications for robotics and real-world …
Learning from Massive Human Videos for Universal Humanoid Pose Control
Scalable learning of humanoid robots is crucial for their deployment in real-world
applications. While traditional approaches primarily rely on reinforcement learning or …
applications. While traditional approaches primarily rely on reinforcement learning or …
Dynamics as Prompts: In-Context Learning for Sim-to-Real System Identifications
Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies
between simulated and real-world dynamics. Traditional methods like Domain …
between simulated and real-world dynamics. Traditional methods like Domain …
A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
Locomotion is a fundamental skill for humanoid robots. However, most existing works made
locomotion a single, tedious, unextendable, and passive movement. This limits the kinematic …
locomotion a single, tedious, unextendable, and passive movement. This limits the kinematic …
HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
Q Ben, F Jia, J Zeng, J Dong, D Lin, J Pang - arxiv preprint arxiv …, 2025 - arxiv.org
Current humanoid teleoperation systems either lack reliable low-level control policies, or
struggle to acquire accurate whole-body control commands, making it difficult to teleoperate …
struggle to acquire accurate whole-body control commands, making it difficult to teleoperate …
Learning Getting-Up Policies for Real-World Humanoid Robots
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably
deployed. Hand-designing controllers for getting up is difficult because of the varied …
deployed. Hand-designing controllers for getting up is difficult because of the varied …