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Humans exhibit diverse and expressive whole-body movements.
Stochastic games
Lloyd S Shapley · 1953
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A whole-body control framework for humanoids operating in human environments
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Approximate dynamic programming for two-player zero-sum markov games
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Whole-body model-predictive control applied to the HRP-2 humanoid
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Trust region policy optimization
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Pinocchio: Nearly practical verifiable computation
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Proximal policy optimization algorithms
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Gans trained by a two time-scale update rule converge to a local nash equilibrium
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Neural discrete representation learning
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Training gans with optimism
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Cycles in adversarial regularized learning
Panayotis Mertikopoulos, Christos Papadimitriou, and Georgios Piliouras · 2018
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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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Using deep reinforcement learning to learn high-level policies on the atrias biped
Tianyu Li, Hartmut Geyer, Christopher G Atkeson, and Akshara Rai · 2019
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Constantinos Daskalakis, Dylan J Foster, and Noah Golowich · 2020
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Bhairav Mehta, Manfred Diaz, Florian Golemo, Christopher J. Pal, and Liam Paull · 2020
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A unified mpc framework for whole-body dynamic locomotion and manipulation
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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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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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Learning transferable visual models from natural language supervision
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Learning from massive human videos for universal humanoid pose control
Jiageng Mao, Siheng Zhao, Siqi Song, Tianheng Shi, Junjie Ye, Mingtong Zhang, Haoran Geng, Jitendra Malik, Vitor Guizilini, and Yue Wang · 2024
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Humanoid locomotion as next token prediction
Ilija Radosavovic, Bike Zhang, Baifeng Shi, Jathushan Rajasegaran, Sarthak Kamat, Trevor Darrell, Koushil Sreenath, and Jitendra Malik · 2024
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Qiang Zhang, Peter Cui, David Yan, Jingkai Sun, Yiqun Duan, Gang Han, Wen Zhao, Weining Zhang, Yijie Guo, Arthur Zhang, et al · 2024
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Perceptive locomotion through nonlinear model-predictive control
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Octo: An open-source generalist robot policy
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CMU MoCap Dataset, 2024
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