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Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning

19 April 2025

Papers citing "Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning"

50 / 51 papers shown

Title
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 117 9 0 07 Mar 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang Xiaochen Li 98 5 0 24 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 131 10 0 17 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yize Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 147 24 0 03 Feb 2025
Learning from Massive Human Videos for Universal Humanoid Pose Control Jiageng Mao Siheng Zhao Siqi Song Tianheng Shi Junjie Ye Mingtong Zhang Haoran Geng Jitendra Malik Vitor Campagnolo Guizilini Yue Wang 130 8 0 18 Dec 2024
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation Kun Wu Chengkai Hou Jiaming Liu Zhengping Che Xiaozhu Ju ... Zhenyu Wang Pengju An Siyuan Qian Shanghang Zhang Jian Tang LM&Ro 210 23 0 18 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Ziyi Wang Tao Huang Ping Luo Jiangmiao Pang 132 24 0 21 Nov 2024
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation Songming Liu Lingxuan Wu Bangguo Li Hengkai Tan Huayu Chen Zhengyi Wang Ke Xu Hang Su Jun Zhu 125 122 0 10 Oct 2024
MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting Chen Tessler Yunrong Guo Ofir Nabati Gal Chechik Xue Bin Peng VGen AI4CE 86 36 0 22 Sep 2024
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu Yen-Jen Wang Xiang Zhu Chengming Shi Yanjiang Guo Yichen Liu Jianyu Chen 89 45 0 26 Aug 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 123 117 0 01 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 88 54 0 15 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 93 109 0 15 Jun 2024
OpenVLA: An Open-Source Vision-Language-Action Model Moo Jin Kim Karl Pertsch Siddharth Karamcheti Ted Xiao Ashwin Balakrishna ... Russ Tedrake Dorsa Sadigh Sergey Levine Percy Liang Chelsea Finn LM&Ro VLM 244 527 0 13 Jun 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 100 90 0 13 Jun 2024
Octo: An Open-Source Generalist Robot Policy Octo Model Team Dibya Ghosh Homer Walke Karl Pertsch Kevin Black ... Quan Vuong Ted Xiao Dorsa Sadigh Chelsea Finn Sergey Levine 201 444 0 20 May 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 87 42 0 08 Apr 2024
Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordance Zan Wang Yixin Chen Baoxiong Jia Puhao Li Jinlu Zhang Jingze Zhang Tengyu Liu Yixin Zhu Wei Liang Siyuan Huang VGen DiffM 79 46 0 26 Mar 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 99 55 0 25 Mar 2024
Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation Tairan He Zhengyi Luo Wenli Xiao Chong Zhang Kris Kitani Changliu Liu Guanya Shi 80 98 0 07 Mar 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell Koushil Sreenath Jitendra Malik LM&Ro 84 67 0 29 Feb 2024
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 101 37 0 28 Feb 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 112 105 0 26 Feb 2024
Universal Humanoid Motion Representations for Physics-Based Control Zhengyi Luo Jinkun Cao Josh Merel Alexander Winkler Jing Huang Kris Kitani Weipeng Xu 69 59 0 06 Oct 2023
BridgeData V2: A Dataset for Robot Learning at Scale Homer Walke Kevin Black Abraham Lee Moo Jin Kim Maximilian Du ... Andre Wang He Vivek Myers Kuan Fang Chelsea Finn Sergey Levine 108 242 0 24 Aug 2023
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System Yuzhe Qin Wei Yang Binghao Huang Karl Van Wyk Hao Su Xiaolong Wang Yu-Wei Chao Dieter Fox 104 107 0 10 Jul 2023
RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot Haoshu Fang Hongjie Fang Zhenyu Tang Jirong Liu Chenxi Wang Junbo Wang Haoyi Zhu Cewu Lu 109 77 0 02 Jul 2023
MotionGPT: Human Motion as a Foreign Language Biao Jiang Xin Chen Wen Liu Jingyi Yu Gang Yu Tao Chen MLLM 80 295 0 26 Jun 2023
Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learning Haoran He Chenjia Bai Kang Xu Zhuoran Yang Weinan Zhang Dong Wang Bingyan Zhao Xuelong Li DiffM OffRL 79 98 0 29 May 2023
Perpetual Humanoid Control for Real-time Simulated Avatars Zhengyi Luo Jinkun Cao Alexander Winkler Kris Kitani Weipeng Xu 107 105 0 10 May 2023
CALM: Conditional Adversarial Latent Models for Directable Virtual Characters Chen Tessler Yoni Kasten Yunrong Guo Shie Mannor Gal Chechik Xue Bin Peng VGen LM&Ro 60 78 0 02 May 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 84 42 0 19 Feb 2023
Synthesizing Physical Character-Scene Interactions Mohamed Hassan Yunrong Guo Tingwu Wang Michael J. Black Sanja Fidler Xue Bin Peng 98 86 0 02 Feb 2023
T2M-GPT: Generating Human Motion from Textual Descriptions with Discrete Representations Jianrong Zhang Yangsong Zhang Xiaodong Cun Shaoli Huang Yong Zhang Hongwei Zhao Hongtao Lu Xiaodong Shen 104 356 0 15 Jan 2023
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 132 1,154 0 13 Dec 2022
Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots Junheng Li Quan Nguyen 79 14 0 18 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 80 150 0 17 Aug 2022
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Avadesh Meduri Paarth Shah Julian Viereck Majid Khadiv Ioannis Havoutis Ludovic Righetti 54 75 0 19 Jan 2022
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 180 1,087 0 24 Aug 2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation Jean-Pierre Sleiman Farbod Farshidian M. Minniti Marco Hutter 76 182 0 01 Mar 2021
Learning Transferable Visual Models From Natural Language Supervision Alec Radford Jong Wook Kim Chris Hallacy Aditya A. Ramesh Gabriel Goh ... Amanda Askell Pamela Mishkin Jack Clark Gretchen Krueger Ilya Sutskever CLIP VLM 969 29,810 0 26 Feb 2021
Independent Policy Gradient Methods for Competitive Reinforcement Learning C. Daskalakis Dylan J. Foster Noah Golowich 220 163 0 11 Jan 2021
On Gradient Descent Ascent for Nonconvex-Concave Minimax Problems Tianyi Lin Chi Jin Michael I. Jordan 129 508 0 02 Jun 2019
Active Domain Randomization Bhairav Mehta Manfred Diaz Florian Golemo C. Pal Liam Paull 71 264 0 09 Apr 2019
AMASS: Archive of Motion Capture as Surface Shapes Naureen Mahmood N. Ghorbani N. Troje Gerard Pons-Moll Michael J. Black 3DH 48 1,259 0 05 Apr 2019
Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped Tianyu Li Akshara Rai H. Geyer C. Atkeson 66 51 0 28 Sep 2018
Neural Discrete Representation Learning Aaron van den Oord Oriol Vinyals Koray Kavukcuoglu BDL SSL OCL 230 5,071 0 02 Nov 2017
Training GANs with Optimism C. Daskalakis Andrew Ilyas Vasilis Syrgkanis Haoyang Zeng 175 519 0 31 Oct 2017
Cycles in adversarial regularized learning P. Mertikopoulos Christos H. Papadimitriou Georgios Piliouras 66 322 0 08 Sep 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 541 19,265 0 20 Jul 2017