Preprint

Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
arXiv preprint
Perception-Action integrated Decision-making (PAiD), a progressive framework for humanoid soccer skills.
Jipeng Kong , Xinzhe Liu , Yuhang Lin , Jinrui Han , Sören Schwertfeger , Chenjia Bai✉ , Xuelong Li
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Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
arXiv
Real-time text-driven humanoid motion generation and control using a two-level diffusion-and-tracking architecture (TextOp).
Weiji Xie , Jiakun Zheng , Jinrui Han , Jiyuan Shi , Weinan Zhang✉ , Chenjia Bai✉ , Xuelong Li
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TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
arXiv preprint
We address humanoid skateboarding, a highly challenging task requiring stable dynamic maneuvering on an humanoid platform via physics-aware whole-body control for humanoid skateboarding in dynamic settings.
Jinrui Han , Dewei Wang , Chenyun Zhang , Xinzhe Liu , Ping Luo , Chenjia Bai✉ , Xuelong Li
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HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
arXiv preprint
We introduce Pro-HOI, a generalizable framework for robust humanoid loco-manipulation via perceptive root-guided control.
Yuhang Lin , Jiyuan Shi , Dewei Wang , Jipeng Kong , Yong Liu , Chenjia Bai✉ , Xuelong Li
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Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
arXiv preprint
We introduce X-Loco, a framework for training a vision-based generalist humanoid locomotion controller through synergetic policy distillation.
Dewei Wang , Xinmiao Wang , Chenyun Zhang , Jiyuan Shi , Yingnan Zhao , Chenjia Bai✉ , Xuelong Li
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X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation