TAGA learns terrain-aware active gaze behaviors for humanoid robots via RL alone, enabling generalizable locomotion with 1.2m real-world gap traversal.
More: Mixture of residual experts for humanoid life- like gaits learning on complex terrains
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SPHERE applies a Parseval penalty to MoE policies in continual RL to maintain spectral plasticity, yielding 133% and 50% higher average success on MetaWorld and HumanoidBench versus unregularized MoE baselines.
SigLoMa enables dynamic loco-manipulation on quadrupeds from ego-centric 5 Hz vision alone by using Sigma Points for scalable exteroception, an ego-centric Kalman Filter for high-rate state estimation, and an active sampling curriculum, matching expert human teleoperation performance.
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
SSR is an end-to-end vision-based framework for humanoid traversal that learns imagined foothold guidance, equivariant latent-space symmetry augmentation, and terrain-specific multi-discriminator motion priors to enable safe locomotion on diverse real-world terrains.
A two-stage distillation plus reinforced fine-tuning approach produces a single humanoid locomotion controller that adapts across skills and irregular terrains.
citing papers explorer
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TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
TAGA learns terrain-aware active gaze behaviors for humanoid robots via RL alone, enabling generalizable locomotion with 1.2m real-world gap traversal.
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SPHERE: Mitigating the Loss of Spectral Plasticity in Mixture-of-Experts for Deep Reinforcement Learning
SPHERE applies a Parseval penalty to MoE policies in continual RL to maintain spectral plasticity, yielding 133% and 50% higher average success on MetaWorld and HumanoidBench versus unregularized MoE baselines.
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SigLoMa: Learning Open-World Quadrupedal Loco-Manipulation from Ego-Centric Vision
SigLoMa enables dynamic loco-manipulation on quadrupeds from ego-centric 5 Hz vision alone by using Sigma Points for scalable exteroception, an ego-centric Kalman Filter for high-rate state estimation, and an active sampling curriculum, matching expert human teleoperation performance.
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HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
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SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World
SSR is an end-to-end vision-based framework for humanoid traversal that learns imagined foothold guidance, equivariant latent-space symmetry augmentation, and terrain-specific multi-discriminator motion priors to enable safe locomotion on diverse real-world terrains.
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Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
A two-stage distillation plus reinforced fine-tuning approach produces a single humanoid locomotion controller that adapts across skills and irregular terrains.