General-purpose motion trackers enable humanoid robots to follow diverse whole-body motions while maintaining balance, but are trained only on flat ground, failing to exploit bipedal mobility over complex terrain. Cross-terrain controllers, meanwhile, are task-specific or accept only low-dimensional locomotion commands...
Zi-Yang Cheng, Tian-Shu Tang, Jin-Xi Lan et al.· 0 citations
A hierarchical machine teaching algorithm for reward learning that operates across multiple MDPs and achieves substantially lower regret and stronger generalization to held-out environments than uniform teaching baselines under identical feedback budgets, demonstrating the importance of multi-environment, multi-modal t...
Ali Larian, Qian Lin, Chang-Zong Wu et al.· arXiv.org· 0 citations
GigaBrain-WBC-0.5, the first Behavior World Model for humanoid whole-body control, is presented, which trains a causal Transformer to jointly predict its next action, next state, and the distribution over its next latent behavior command, so the network that acts also models how the environment shapes what it can do ne...
Ziyang Cheng, Tianshu Tang, Jinxi Lan et al.· 0 citations
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