16 accepted papers
“Code-as-Policy” considers how executable code can complement data-intensive Vision-LanguageAction (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains underexplored. We present CaPX, an open-access framework for systematically studying Code-as-Policy ag…
Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow policies to generalize beyond curated environments. Building on these advances, we develop a teacher-student-bootstrap lea
Supervised fine-tuning (SFT) has become the de facto post-training strategy for large vision-language-action (VLA) models, but its reliance on costly human demonstrations limits scalability and generalization. We propose Probe, Learn, Distill (PLD), a plug-and-play framework that improves VLAs throu…
A key barrier to the real-world deployment of humanoid robots is the lack of autonomous loco-manipulation skills. We introduce VIRAL, a visual sim-to-real framework that learns humanoid loco-manipulation entirely in simulation and deploys it zero-shot to real hardware. VIRAL follows a teacher-studen
Humanoid robots hold the potential for unparalleled versatility by performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between simulation and real-world physics. Existing approaches, such a…
Modern non-linear model-based controllers require an accurate physics model and model parameters to be able to control mobile robots at their limits. Also, due to surface slipping at high speeds, the friction parameters may continually change (like tire degradation in autonomous racing), and the con
Recent works in the robot learning community have successfully introduced generalist models capable of controlling various robot embodiments across a wide range of tasks, such as navigation and locomotion. However, achieving agile control, which pushes the limits of robotic performance, still relies
Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity or position tracking, while tabletop manipulation prioritizes upper-body joint
Can your humanoid walk up and hand you a full cup of beer—without spilling a drop? While humanoids are increasingly featured in flashy demos—dancing, delivering packages, traversing rough terrain—fine-grained control during locomotion remains a significant challenge. In particular, stabilizing a fil…
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety, or focus on agility without considering potentially fatal c…
We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. To create a large-scale retargeted motion dataset of human movements for humanoid robots, we propose a scalable "s…
We present OmniH2O (Omni Human-to-Humanoid), a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic pose as a universal control interface, OmniH2O enables various ways for a human to control a full-sized humanoid with dexterous hands, including using real-time te…
A critical goal of autonomy and artificial intelligence is enabling autonomous robots to rapidly adapt in dynamic and uncertain environments. Classic adaptive control and safe control provide stability and safety guarantees but are limited to specific system classes. In contrast, policy adaptation b…
Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on simplified dynamics models. Although model-free reinforcement lear…
In real-world applications, handling partial observability is a common requirement for reinforcement learning algorithms, which is not captured by a Markov decision process (MDP). Although partially observable Markov decision processes (POMDPs) have been specifically designed to address this require…
Multi-agent Reinforcement Learning (MARL) has been increasingly used in safety-critical applications but has no safety guarantees, especially during training. In this paper, we propose dynamic shielding, a novel decentralized MARL framework to ensure safety in both training and deployment phases. Ou…