NoPA replaces Gaussian object approximations with non-parametric distributions and MMD-based merging to improve accuracy in real-time 3D scene graph generation.
In: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)
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VRA grounds discrete-time joint acceleration commands in voltage-constrained actuator physics to eliminate unrealizable accelerations and reduce oscillations in electric motor systems.
Play2Perfect uses task-agnostic RL play pretraining on diverse objects to build reusable manipulation priors, then fine-tunes for assembly, yielding 33x sample efficiency gains and 60% success on 0.5mm-clearance insertions in sim-to-real transfer.
Any2Any transfers humanoid whole-body tracking models across embodiments via kinematic alignment followed by targeted PEFT, matching full-training performance with 1% of the data and compute on tested platforms.
An empirical study of JEPA world models identifies architecture, training objective, and planning choices that yield a model outperforming DINO-WM and V-JEPA-2-AC on navigation and manipulation tasks.
MOBIUS is a multi-modal bipedal robot with hybrid reinforcement learning and force control plus an MIQCP planner that enables walking, crawling, climbing, and rolling on varied terrains.
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