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Learning generic skills for humanoid robots interacting with 3D scenes by mimicking human data is a key research challenge with significant implications for robotics and real-world applications.
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Catalin Ionescu, Dragos Papava, Vlad Olaru, and Cristian Sminchisescu · 2013
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Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands
Vikash Kumar, Zhe Xu, and Emanuel Todorov · 2013
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Shapenet: An information-rich 3d model repository
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Development of life-sized high-power humanoid robot jaxon for real-world use
Kunio Kojima, Tatsuhi Karasawa, Toyotaka Kozuki, Eisoku Kuroiwa, Sou Yukizaki, Satoshi Iwaishi, Tatsuya Ishikawa, Ryo Koyama, Shintaro Noda, Fumihito Sugai, et al · 2015
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Physics-based motion capture imitation with deep reinforcement learning
Nuttapong Chentanez, Matthias Müller, Miles Macklin, Viktor Makoviychuk, and Stefan Jeschke · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
Xue Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel Van de Panne · 2018
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Multi-goal reinforcement learning: Challenging robotics environments and request for research
Matthias Plappert, Marcin Andrychowicz, Alex Ray, Bob McGrew, Bowen Baker, Glenn Powell, Jonas Schneider, Josh Tobin, Maciek Chociej, Peter Welinder, et al · 2018
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Unitree’s first universal humanoid robot
Unitree · 2018
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Resolving 3d human pose ambiguities with 3d scene constraints
Mohamed Hassan, Vasileios Choutas, Dimitrios Tzionas, and Michael J Black · 2019
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Amass: Archive of motion capture as surface shapes
Naureen Mahmood, Nima Ghorbani, Nikolaus F Troje, Gerard Pons-Moll, and Michael J Black · 2019
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Simitate: A hybrid imitation learning benchmark
Raphael Memmesheimer, Ivanna Kramer, Viktor Seib, and Dietrich Paulus · 2019
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PartNet: A large-scale benchmark for fine-grained and hierarchical part-level 3D object understanding
Kaichun Mo, Shilin Zhu, Angel X. Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas, and Hao Su · 2019
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Expressive body capture: 3d hands, face, and body from a single image
Georgios Pavlakos, Vasileios Choutas, Nima Ghorbani, Timo Bolkart, Ahmed AA Osman, Dimitrios Tzionas, and Michael J Black · 2019
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Generative adversarial networks
Ian Goodfellow, Jean Pouget-Abadie, Mehdi Mirza, Bing Xu, David Warde-Farley, Sherjil Ozair, Aaron Courville, and Yoshua Bengio · 2020
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Catch & carry: reusable neural controllers for vision-guided whole-body tasks
Josh Merel, Saran Tunyasuvunakool, Arun Ahuja, Yuval Tassa, Leonard Hasenclever, Vu Pham, Tom Erez, Greg Wayne, and Nicolas Heess · 2020
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A scalable approach to control diverse behaviors for physically simulated characters
Jungdam Won, Deepak Gopinath, and Jessica Hodgins · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
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robosuite: A modular simulation framework and benchmark for robot learning
Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Soroush Nasiriany, and Yifeng Zhu · 2020
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Learning to sit: Synthesizing human-chair interactions via hierarchical control
Yu-Wei Chao, Jimei Yang, Weifeng Chen, and Jia Deng · 2021
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Supertrack: Motion tracking for physically simulated characters using supervised learning
Levi Fussell, Kevin Bergamin, and Daniel Holden · 2021
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Stochastic scene-aware motion prediction
Mohamed Hassan, Duygu Ceylan, Ruben Villegas, Jun Saito, Jimei Yang, Yi Zhou, and Michael J Black · 2021
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Dynamics-regulated kinematic policy for egocentric pose estimation
Zhengyi Luo, Ryo Hachiuma, Ye Yuan, and Kris Kitani · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Amp: Adversarial motion priors for stylized physics-based character control
Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
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Behave: Dataset and method for tracking human object interactions
Bharat Lal Bhatnagar, Xianghui Xie, Ilya A Petrov, Cristian Sminchisescu, Christian Theobalt, and Gerard Pons-Moll · 2022
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Intercap: Joint markerless 3d tracking of humans and objects in interaction
Yinghao Huang, Omid Taheri, Michael J Black, and Dimitrios Tzionas · 2022
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Padl: Language-directed physics-based character control
Jordan Juravsky, Yunrong Guo, Sanja Fidler, and Xue Bin Peng · 2022
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Unicon: Combating label noise through uniform selection and contrastive learning
Nazmul Karim, Mamshad Nayeem Rizve, Nazanin Rahnavard, Ajmal Mian, and Mubarak Shah · 2022
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Elevation mapping for locomotion and navigation using gpu
Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, and Marco Hutter · 2022
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Ase: Large-scale reusable adversarial skill embeddings for physically simulated characters
Xue Bin Peng, Yunrong Guo, Lina Halper, Sergey Levine, and Sanja Fidler · 2022
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Robustfusion: Robust volumetric performance reconstruction under human-object interactions from monocular rgbd stream
Zhuo Su, Lan Xu, Dawei Zhong, Zhong Li, Fan Deng, Shuxue Quan, and Lu Fang · 2022
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Mocapact: A multi-task dataset for simulated humanoid control
Nolan Wagener, Andrey Kolobov, Felipe Vieira Frujeri, Ricky Loynd, Ching-An Cheng, and Matthew Hausknecht · 2022
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Humanise: Language-conditioned human motion generation in 3d scenes
Zan Wang, Yixin Chen, Tengyu Liu, Yixin Zhu, Wei Liang, and Siyuan Huang · 2022
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Learning smooth humanoid locomotion through lipschitz-constrained policies
Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, et al · 2024
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Bigym: A demo-driven mobile bi-manual manipulation benchmark
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Sim-to-real learning for humanoid box loco-manipulation
Jeremy Dao, Helei Duan, and Alan Fern · 2024
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Learning multi-modal whole-body control for real-world humanoid robots
Pranay Dugar, Aayam Shrestha, Fangzhou Yu, Bart van Marum, and Alan Fern · 2024
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Cg-hoi: Contact-guided 3d human-object interaction generation
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Humanplus: Humanoid shadowing and imitation from humans
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Coohoi: Learning cooperative human-object interaction with manipulated object dynamics
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Humanoid-gym: Reinforcement learning for humanoid robot with zero-shot sim2real transfer
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Dtc: Deep tracking control
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A biomechanics-inspired approach to soccer kicking for humanoid robots
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Synthesizing physically plausible human motions in 3d scenes
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