Preprint

Perception-Action integrated Decision-making (PAiD), a progressive framework for humanoid soccer skills.

Real-time text-driven humanoid motion generation and control using a two-level diffusion-and-tracking architecture (TextOp).

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.

We introduce Pro-HOI, a generalizable framework for robust humanoid loco-manipulation via perceptive root-guided control.

We introduce X-Loco, a framework for training a vision-based generalist humanoid locomotion controller through synergetic policy distillation.

We introduce RuleSafe and VQ-Memory, a VQ-VAE temporal representation that boosts long-horizon manipulation in non-Markovian benchmarks.

HALO introduces a MuJoCo XLA-based two-stage identification pipeline that closes the heavy-load sim-to-real gap for agile humanoid skills.