Fast dynamic obstacle avoidance for quadruped robots via privileged state estimation and hierarchical reinforcement learning
Yi-Lin Zhang, Jia-Yu Zeng, Jia-Nan Xie et al.
· Expert systems with applicat... · 0 citations
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Preprint
Sep 2026
PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments
PASSAGE, a perception-conditioned planner--tracker framework for humanoid traversal, using virtual reality and inertial motion capture to collect 100 h of scene-aligned human motion across 1,500 cluttered scenes and tests across 50 unseen physical layouts demonstrate traversal without prebuilt maps or offboard computat...
Yuxuan Ma, Zi-Cheng Zeng, Chun-Li Peng et al.
· 1 citation
Preprint
Aug 2026
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
This work introduces HumanTracker, a preference-aligned metric trained on 12K motion pairs containing 24K motions that better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
Dai-En Liu, Ze-Kun Qi, Jia-Yu Zeng et al.
· 0 citations