Cover Image

Ego-Vision World Model for Humanoid Contact Planning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Liu, Hang, Gao, Yuman, Teng, Sangli, Chi, Yufeng, Shao, Yakun Sophia, Li, Zhongyu, Ghaffari, Maani, Sreenath, Koushil
Format:	Preprint
Published:	2025
Subjects:	Robotics Artificial Intelligence Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

CHyLL: Learning Continuous Neural Representations of Hybrid Systems
by: Teng, Sangli, et al.
Published: (2025)

Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
by: Cai, Jiaze, et al.
Published: (2024)

Legged Robot State Estimation within Non-inertial Environments
by: He, Zijian, et al.
Published: (2024)

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
by: Teng, Sangli, et al.
Published: (2025)

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
by: Teng, Sangli, et al.
Published: (2024)

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
by: Shao, Yiyang, et al.
Published: (2025)

MePoly: Max Entropy Polynomial Policy Optimization
by: Liu, Hang, et al.
Published: (2026)

Social Zone as a Barrier Function for Socially-Compliant Robot Navigation
by: Jang, Junwoo, et al.
Published: (2024)

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
by: Chang, I-Chia, et al.
Published: (2026)

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
by: Thirugnanam, Akshay, et al.
Published: (2021)

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
by: Ryu, Kanghyun, et al.
Published: (2024)

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains
by: Yue, Linzhu, et al.
Published: (2024)

IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance
by: Zeng, Yifan, et al.
Published: (2025)

Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie Groups
by: Marques, Luís, et al.
Published: (2025)

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
by: Chi, Yufeng, et al.
Published: (2025)

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
by: Huang, Jihao, et al.
Published: (2023)

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
by: Li, Zhongyu, et al.
Published: (2024)

Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions
by: Zhuang, Ziwen, et al.
Published: (2025)

Learning Hybrid Dynamics via Convex Optimizations
by: Iwasaki, Kaito, et al.
Published: (2025)

Prompt a Robot to Walk with Large Language Models
by: Wang, Yen-Jen, et al.
Published: (2023)

Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
by: Liu, Hang, et al.
Published: (2025)

HuB: Learning Extreme Humanoid Balance
by: Zhang, Tong, et al.
Published: (2025)

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
by: Bouvier, Jean-Baptiste, et al.
Published: (2025)

Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
by: Thirugnanam, Akshay, et al.
Published: (2023)

Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems
by: Choi, Jason J., et al.
Published: (2023)

Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
by: Thirugnanam, Akshay, et al.
Published: (2025)

A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization
by: Teng, Sangli, et al.
Published: (2024)

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
by: Xia, Xingpeng, et al.
Published: (2024)

Robust Trajectory Tracking of Autonomous Surface Vehicle via Lie Algebraic Online MPC
by: Dong, Yinan, et al.
Published: (2025)

iWalker: Imperative Visual Planning for Walking Humanoid Robot
by: Lin, Xiao, et al.
Published: (2024)

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
by: Zhang, Chong, et al.
Published: (2024)

Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents
by: Hou, Ruochen, et al.
Published: (2025)

Characterizing and Optimizing Real-Time Optimal Control for Embedded SoCs
by: Dong, Kris Shengjun, et al.
Published: (2024)

DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
by: Huang, Xiaoyu, et al.
Published: (2024)

Berkeley Humanoid: A Research Platform for Learning-based Control
by: Liao, Qiayuan, et al.
Published: (2024)

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
by: Gu, Xinyang, et al.
Published: (2024)

Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
by: Salagame, Adarsh, et al.
Published: (2024)

Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
by: Mangan, Aedan, et al.
Published: (2026)

BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
by: Liao, Qiayuan, et al.
Published: (2025)

Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
by: Salagame, Adarsh, et al.
Published: (2024)