Huayi Wang

Towards Adaptable Humanoid Control Via Adaptive Motion Tracking

VB-Com: Learning Vision-Blind Composite Humanoid Locomotion against Deficient Perception

BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds

Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing approaches designed for quadrupedal robots often fail to generalize to humanoid robots due to differences in foot geometry and unstable…

Learning Humanoid Standing-up Control across Diverse Postures

Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems. Existing approaches are either limited to simulations that neglect hardware constraints or rely on predefined ground-specific motion trajectories, failing to…