H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies

23 May 2025

Geeta Chandra Raju Bethala

Papers citing "H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies"

29 / 29 papers shown

Title
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning R. P. Singh M. Morisawa M. Benallegue Zhaoming Xie F. Kanehiro 57 1 0 18 Apr 2025
Embodied Chain of Action Reasoning with Multi-Modal Foundation Model for Humanoid Loco-manipulation Yu Hao Geeta Chandra Raju Bethala Niraj Pudasaini Hao Huang Shuaihang Yuan Congcong Wen Baoru Huang A. Nguyen Yi Fang LM&Ro AI4CE LRM 80 1 0 13 Apr 2025
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Ziyi Wang Tao Huang Ping Luo Jiangmiao Pang 112 21 0 21 Nov 2024
Learning to Open and Traverse Doors with a Legged Manipulator Mike Zhang Yuntao Ma Takahiro Miki Marco Hutter 47 8 0 07 Sep 2024
Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation Yifei Shao Tianyu Li Shafagh Keyvanian Pratik Chaudhari Vijay Kumar Nadia Figueroa 44 4 0 30 Aug 2024
SAM 2: Segment Anything in Images and Videos Nikhila Ravi Valentin Gabeur Yuan-Ting Hu Ronghang Hu Chaitanya K. Ryali ... Nicolas Carion Chao-Yuan Wu Ross B. Girshick Piotr Dollár Christoph Feichtenhofer VLM MLLM 58 796 0 01 Aug 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris Kitani Changliu Liu Guanya Shi 57 75 0 13 Jun 2024
Learning Force Control for Legged Manipulation Tifanny Portela G. Margolis Yandong Ji Pulkit Agrawal 46 19 0 02 May 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 64 37 0 08 Apr 2024
WHAM: Reconstructing World-grounded Humans with Accurate 3D Motion Soyong Shin Juyong Kim Eni Halilaj Michael J. Black 3DH 77 72 0 12 Dec 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 84 147 0 26 Apr 2023
Robots Taking Initiative in Collaborative Object Manipulation: Lessons from Physical Human-Human Interaction Zhanibek Rysbek K. Oh Afagh Mehri Shervedani Timotej Klemencic Milos Zefran Barbara Di Eugenio 12 2 0 24 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 44 59 0 03 Apr 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 174 1,112 0 07 Mar 2023
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 41 143 0 21 Nov 2022
Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics Doganay Sirintuna A. Giammarino Arash Ajoudani 13 22 0 25 Jan 2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators Yuntao Ma Farbod Farshidian Takahiro Miki Joonho Lee Marco Hutter 57 72 0 11 Jan 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 184 561 0 24 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 102 1,049 0 24 Aug 2021
Improved Denoising Diffusion Probabilistic Models Alex Nichol Prafulla Dhariwal DiffM 111 3,599 0 18 Feb 2021
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 67 1,154 0 21 Oct 2020
Denoising Diffusion Implicit Models Jiaming Song Chenlin Meng Stefano Ermon VLM DiffM 80 7,166 0 06 Oct 2020
Denoising Diffusion Probabilistic Models Jonathan Ho Ajay Jain Pieter Abbeel DiffM 206 17,550 0 19 Jun 2020
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 53 1,294 0 24 Jan 2019
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 59 798 0 27 Apr 2018
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine 170 8,236 0 04 Jan 2018
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 183 18,685 0 20 Jul 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 273 129,831 0 12 Jun 2017
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Joshua Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel 118 2,948 0 20 Mar 2017