WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts

10 June 2024

Papers citing "WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts"

36 / 36 papers shown

Title
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation Y. Zhang Yifu Yuan Prajwal Gurunath Tairan He Shayegan Omidshafiei Ali-akbar Agha-mohammadi Marcell Vazquez-Chanlatte Liam Pedersen Guanya Shi 19 0 0 10 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 19 0 0 09 May 2025
TWIST: Teleoperated Whole-Body Imitation System Yanjie Ze Zixuan Chen Joao Pedro Araujo Zi-ang Cao Xue Bin Peng Jiajun Wu Chao Liu 30 0 0 05 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Jia Deng 27 0 0 05 May 2025
SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations Runyi Yu Yinhuai Wang Qihan Zhao Hok Wai Tsui Jingbo Wang P. Tan Qifeng Chen OffRL 17 0 0 04 May 2025
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao Xiaoyu Huang Bike Zhang Qiayuan Liao Yuman Gao Yufeng Chi Zhongyu Li Sophia Shao K. Sreenath LM&Ro 62 0 0 30 Apr 2025
RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 28 1 0 09 Apr 2025
TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization Liang Pan Zeshi Yang Zhiyang Dou Wenjia Wang Buzhen Huang Bo Dai Taku Komura Jingbo Wang 45 1 0 25 Mar 2025
Natural Humanoid Robot Locomotion with Generative Motion Prior Haodong Zhang Liang Zhang Z. Chen Lu Chen Y. Wang R. Xiong 64 0 0 13 Mar 2025
Trinity: A Modular Humanoid Robot AI System Jingkai Sun Qiang Zhang Gang Han Wen Zhao Zhe Yong Yan He Jiaxu Wang Jiahang Cao Yijie Guo Renjing Xu 32 0 0 11 Mar 2025
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures Qiang Zhang Gang Han Jingkai Sun Wen Zhao Jiahang Cao Jiaxu Wang Hao-Ran Cheng L. Zhang Yijie Guo Renjing Xu AI4CE 39 0 0 11 Mar 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang Ruohan Zhang J. Wong Chen Wang Yanjie Ze Hang Yin Cem Gokmen Shuran Song Jiajun Wu L. Fei-Fei 67 5 0 07 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 69 2 0 03 Mar 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li K. Jia Guiliang Liu 34 0 0 02 Mar 2025
InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions Sirui Xu Hung Yu Ling Yu-xiong Wang Liang-Yan Gui 51 4 0 27 Feb 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 44 7 0 27 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 67 5 0 17 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 47 3 0 15 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Y. Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 76 9 0 03 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Ziwen Zhuang Hang Zhao 46 6 0 03 Feb 2025
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation Yuanchen Yuan Jin Cheng Núria Armengol Urpí Stelian Coros 66 1 0 02 Feb 2025
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 37 5 0 23 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Z. Wang Tao Huang Ping Luo Jiangmiao Pang 64 18 0 21 Nov 2024
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 33 23 0 28 Oct 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu K. Sreenath Saurabh Gupta Xue Bin Peng 60 17 0 15 Oct 2024
E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework Yiqun Duan Qiang Zhang Jinzhao Zhou Jingkai Sun Xiaowei Jiang ... Yiqian Yang Wen Zhao Gang Han Yijie Guo Chin-Teng Lin 18 1 0 03 Oct 2024
Learning Robust Policies via Interpretable Hamilton-Jacobi Reachability-Guided Disturbances Hanyang Hu Xilun Zhang Xubo Lyu Mo Chen 25 1 0 29 Sep 2024
AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility Wenli Xiao Haoru Xue Tony Tao Dvij Kalaria John M. Dolan Guanya Shi 19 5 0 24 Sep 2024
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing Haoru Xue Chaoyi Pan Zeji Yi Guannan Qu Guanya Shi 36 14 0 23 Sep 2024
Know your limits! Optimize the robot's behavior through self-awareness Esteve Valls Mascaro Dongheui Lee 26 0 0 16 Sep 2024
CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement Chengwen Zhang Yun-Hai Liu Ruofan Xing Bingda Tang Li Yi 38 10 0 27 Jun 2024
CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics Jiawei Gao Ziqin Wang Zeqi Xiao Jingbo Wang Tai Wang Jinkun Cao Xiaolin Hu Si Liu Jifeng Dai Jiangmiao Pang 36 14 0 20 Jun 2024
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 40 12 0 21 May 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 42 30 0 15 Mar 2024
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 47 12 0 26 Sep 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning N. Rudin David Hoeller Philipp Reist Marco Hutter 108 535 0 24 Sep 2021