HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
Behavior foundation model: Towards next- generation whole-body control system of humanoid robots
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VAIC distills a teacher policy into a vision-and-proprioception student policy using recurrent adaptation and decoupled commands, enabling diverse real-robot tasks like box carrying and skateboarding that outperform baselines.
A one-shot adaptation technique for humanoid whole-body motion that computes order-preserving optimal transport distances between walking and target sequences, interpolates geodesic intermediate poses, optimizes for collision-free retargeting, and adapts via reinforcement learning.
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One-shot Adaptation of Humanoid Whole-body Motion with Walking Priors
A one-shot adaptation technique for humanoid whole-body motion that computes order-preserving optimal transport distances between walking and target sequences, interpolates geodesic intermediate poses, optimizes for collision-free retargeting, and adapts via reinforcement learning.