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
PDF Cite Project 公众号
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
PDF Cite Code Project 公众号
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and 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
PDF Cite Project
Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks
arXiv preprint
We introduce RuleSafe and VQ-Memory, a VQ-VAE temporal representation that boosts long-horizon manipulation in non-Markovian benchmarks.
Honghui Wang , Zhi Jing , Jicong Ao , Shiji Song , Xuelong Li , Gao Huang , Chenjia Bai✉
PDF Cite Project
Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks
HALO: Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation
arXiv preprint
HALO introduces a MuJoCo XLA-based two-stage identification pipeline that closes the heavy-load sim-to-real gap for agile humanoid skills.
Xingyi Wang , Chenyun Zhang , Weiji Xie , Chao Yu , Wei Song , Chenjia Bai✉ , Shiqiang Zhu
PDF Cite Project
HALO: Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation
DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation
arXiv preprint
DeCoNav introduces event-triggered dialogue and dynamic replanning to improve long-horizon collaborative VLN in synchronized multi-robot settings.
Sunyao Zhou , Yunzi Wu , Tianhang Wang , Xinhai Li , Guang Chen , Lizheng Liu , Chenjia Bai , Xuelong Li
PDF Cite
DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation
AssemLM: Spatial Reasoning Multimodal Large Language Models for Robotic Assembly
arXiv preprint
AssemLM introduces a spatial multimodal LLM and AssemBench to advance 3D reasoning and 6D pose prediction for robotic assembly.
Zhi Jing , Jinbin Qiao , Ouyang Lu , Jicong Ao , Shuang Qiu , Yu-Gang Jiang , Chenjia Bai✉
PDF Cite
AssemLM: Spatial Reasoning Multimodal Large Language Models for Robotic Assembly