DreamTIP adds LLM-identified task-invariant properties as auxiliary targets in Dreamer's world model plus a mixed-replay adaptation step, delivering 28.1% average simulated transfer gains and 100% real-world climb success versus 10% for baselines.
Ad- vancing humanoid locomotion: Mastering challenging terrains with denoising world model learning
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HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
TeleGate achieves high-precision real-time whole-body teleoperation of humanoid robots by dynamically gating between expert policies and using a VAE motion prior to infer future intent from history, outperforming distillation baselines on dynamic motions with only 2.5 hours of mocap data.
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.
DreamPolicy integrates an autoregressive diffusion world model with policy learning to produce a single scalable policy that generalizes to unseen composite terrains for humanoid locomotion.
UniCon standardizes states and control logic into modular execution graphs for efficient transfer of learning controllers across heterogeneous robots, with lower latency than ROS.
A two-stage distillation plus reinforced fine-tuning approach produces a single humanoid locomotion controller that adapts across skills and irregular terrains.
DenoGrad refines noisy tabular and time-series data by optimizing inputs via gradients from a fixed model, yielding better downstream predictions on ten real-world datasets while preserving data statistics.
citing papers explorer
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Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robots
DreamTIP adds LLM-identified task-invariant properties as auxiliary targets in Dreamer's world model plus a mixed-replay adaptation step, delivering 28.1% average simulated transfer gains and 100% real-world climb success versus 10% for baselines.
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HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
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TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior
TeleGate achieves high-precision real-time whole-body teleoperation of humanoid robots by dynamically gating between expert policies and using a VAE motion prior to infer future intent from history, outperforming distillation baselines on dynamic motions with only 2.5 hours of mocap data.
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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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DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion
DreamPolicy integrates an autoregressive diffusion world model with policy learning to produce a single scalable policy that generalizes to unseen composite terrains for humanoid locomotion.
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UniCon: A Unified System for Efficient Robot Learning Transfers
UniCon standardizes states and control logic into modular execution graphs for efficient transfer of learning controllers across heterogeneous robots, with lower latency than ROS.
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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.
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DenoGrad: A Gradient-Based Framework for Data Refinement in Tabular and Time-Series Learning
DenoGrad refines noisy tabular and time-series data by optimizing inputs via gradients from a fixed model, yielding better downstream predictions on ten real-world datasets while preserving data statistics.