Humanoid soccer contact skills require more than producing high-impact foot-ball contacts: the robot must close the loop over perception, approach, alignment, impact, and recovery while its own motion induces substantial viewpoint changes, frequent loss of the ball from view, and uncertain contact outcomes. In this wor...
Jia-Kang Jin, Yi-Xiao Huo, Peng-Yuan Wang et al.· 0 citations
SkillX is presented, a unified reinforcement learning framework that learns and composes multiple atomic soccer skills through a single command-conditioned policy, enabling the robot to execute atomic skills and transition among them such as dribbling, trapping, and shooting.
Zhang-Chen Ye, En-Xuan Ruan, Yi-Fei Bao et al.· 2 citations
P Pix2Act is proposed, an imitation learning method that addresses high-dimensional 3D control as a simpler, more learnable 2D prediction problem by generating continuous image-space keypoint trajectories in each camera plane and losslessly recovering end-effector poses via triangulation.
Hao-zhe Huang, Lin-Feng Zhao, Haotian Liu et al.· arXiv.org· 1 citation
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