The Weightlessness Mechanism lets humanoid robots imitate non-self-stabilizing motions by dynamically relaxing specific joints to exploit passive environmental contacts, generalizing from single demonstrations to varied setups.
Couch: Towards controllable human-chair interactions
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SynAgent enables generalizable cooperative humanoid manipulation by transferring skills from solo human-object interactions to multi-agent scenarios via interaction-preserving retargeting, single-agent pretraining with multi-agent PPO, and a conditional VAE generative policy.
citing papers explorer
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Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
The Weightlessness Mechanism lets humanoid robots imitate non-self-stabilizing motions by dynamically relaxing specific joints to exploit passive environmental contacts, generalizing from single demonstrations to varied setups.
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SynAgent: Generalizable Cooperative Humanoid Manipulation via Solo-to-Cooperative Agent Synergy
SynAgent enables generalizable cooperative humanoid manipulation by transferring skills from solo human-object interactions to multi-agent scenarios via interaction-preserving retargeting, single-agent pretraining with multi-agent PPO, and a conditional VAE generative policy.