$HMND humanoid

Latest papers

1. Data-Efficient Learning from Demonstration for Humanoid Robots via Feature-Level Perception and Prompt-Based Object Detection cs.RO · 19 Oct · 4 hits

   …and resource-intensive end-to-end training. This paper introduces a data-efficient LfD framework for humanoid robots that learns manipulation skills from compact, task-specific features instead of raw images.…

2. Compositional Humanoid Manipulation through Isomorphic Teleoperation and Independent Skill Routing cs.RO · 19 Oct · 3 hits

   Humanoid manipulation requires reusable arm skills, yet demonstrating every possible skill combination is…

3. OmniInteract: Towards Unified Whole-Body Interaction Control for Dual Humanoids cs.RO · 19 Oct · 6 hits

   Physical interaction is a key capability for humanoid collaboration, requiring coordinated whole-body motion and precise contact. However, learning…

4. Self-Supervised Inertial Odometry cs.RO · 19 Oct · 1 hit

   …recording data during normal operation. Across six datasets spanning pedestrians, drones, quadrupeds, and a humanoid, the same recipe with no velocity or position labels trains models that come within $0.07$~m/s…

5. SWAP: Test-Time Steerable Humanoid Whole-Body Collision Avoidance cs.RO · 19 Oct · 6 hits

   Humanoid robots operating in human-centric environments must coordinate the entire body to traverse tight,…

6. Validation of Human Motor Development Scales with Humanoid Robots cs.RO · 19 Oct · 4 hits

   We investigate how humanoid robots can learn a series of motor skills defined by human infant motor development scales, and we…

7. Humanoid SRL: Augmenting Humanoids with Supernumerary Limbs for Coordinated Loco-Manipulation cs.RO · 19 Oct · 5 hits

   Humanoid robots are envisioned to perform diverse human-level tasks through their anthropomorphic morphology.…

8. CusADi2: Latency-Optimized Batch Computation of Robot Kinematics, Jacobians, and Hessians on the GPU cs.RO · 18 Oct · 1 hit

   …Jacobians, and Hessians for all 67~robots in the MuJoCo Menagerie, including arms, hands, quadrupeds, humanoids, and biomechanical models, against MuJoCo XLA, MuJoCo Warp, frax, CusADi, and CasADi. CusADi2…