Author

A. Rizzi

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Preprint Oct 2026

HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion

Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these comp...

M. Zhang, Dong-Ho Kang, Kevin Bergamin et al. · 0 citations

Preprint Aug 2026

Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling

We present an online learning framework that enables a bimanual robot to acquire diverse juggling patterns directly on physical hardware within minutes, even with a significant sim2real gap. One of the most important lessons from this work is that a model, even when far from reality, can be extremely useful for learnin...

Taeyoon Lee, Chun-Peng Wang, C. Atkeson et al. · 0 citations