Humanoid

OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and …
Yixuan Li, Le Ma, Yutang Lin, Yushi Du, Mengya Liu, Kaizhe Hu, Jieming Cui, Yixin Zhu, Baoxiong Jia, Wei Liang, Siyuan Huang
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OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied …
Yutang Lin, Jieming Cui, Yixuan Li, Baoxiong Jia, Yixin Zhu, Siyuan Huang
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LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations
UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
A long-standing objective in humanoid robotics is the realization of versatile agents capable of following diverse multimodal …
Nan Jiang, Zimo He, Wanhe Yu, Lexi Pang, Yunhao Li, Hongjie Li, Jieming Cui, Yuhan Li, Yizhou Wang, Yixin Zhu, Siyuan Huang
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UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
[CoRL25] CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
Humanoid robot teleoperation plays a vital role in demonstrating and collecting data for complex interactions. Current methods suffer …
Yixuan Li, Yutang Lin, Jieming Cui, Tengyu Liu, Wei Liang, Yixin Zhu, Siyuan Huang
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[CoRL25] CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
[CVPR25] GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill
Learning open-vocabulary physical skills for simulated agents presents a significant challenge in artificial intelligence. Current …
Jieming Cui, Tengyu Liu, Ziyu Meng, Jiale Yu, Ran Song, Wei Zhang, Yixin Zhu, Siyuan Huang
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[CVPR25] GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill
[CVPR24] AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agents
Traditional approaches in physics-based motion generation, centered around imitation learning and reward shaping, often struggle to …
Jieming Cui, Tengyu Liu, Nian Liu, Yaodong Yang, Yixin Zhu, Siyuan Huang
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[CVPR24] AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agents