Berkeley Humanoid: A Research Platform for Learning-based Control

31 July 2024

Papers citing "Berkeley Humanoid: A Research Platform for Learning-based Control"

24 / 24 papers shown

Title
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Lizhi Yang Blake Werner Ryan K. Cosner David Fridovich-Keil Preston Culbertson Aaron D. Ames 7 0 0 16 May 2025
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong K. Sreenath Yang Gao 28 0 0 12 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 29 0 0 09 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 152 0 0 30 Apr 2025
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot Yufeng Chi Qiayuan Liao Junfeng Long Xiaoyu Huang Sophia Shao Borivoje Nikolic Zhongyu Li K. Sreenath 29 0 0 24 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 53 0 0 01 Apr 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 Li Zhang Yijie Guo Renjing Xu AI4CE 39 0 0 11 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 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
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yuyao Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 10 0 03 Feb 2025
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Haochen Shi Weizhuo Wang Shuran Song C. Karen Liu 43 3 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 42 5 0 23 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Zhilin Wang Tao Huang Ping Luo Jiangmiao Pang 69 19 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 35 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 63 17 0 15 Oct 2024
OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation Jinhan Li Yifeng Zhu Yuqi Xie Zhenyu Jiang Mingyo Seo Georgios Pavlakos Yuke Zhu LM&Ro 26 31 0 15 Oct 2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics Boxi Xia Bokuan Li Jacob Lee Michael Scutari Boyuan Chen AI4CE 31 4 0 29 Sep 2024
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models Kanghyun Ryu Qiayuan Liao Zhongyu Li K. Sreenath Negar Mehr Negar Mehr LM&Ro 162 3 0 27 Sep 2024
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP Adrian B. Ghansah Jeeseop Kim Kejun Li Aaron D. Ames 30 3 0 19 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 48 37 0 15 Jun 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell K. Sreenath Jitendra Malik LM&Ro 28 61 0 29 Feb 2024
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research Junheng Li Junchao Ma Omar Kolt Manas Shah Quan Nguyen 40 15 0 19 Dec 2023
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking Yanran Ding Charles Khazoom Matthew Chignoli Sangbae Kim 34 24 0 30 May 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 545 0 24 Sep 2021