Junheng Li

収録論文 21本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 接触を狙う：動的モーションリターゲティングのための接触暗黙的多重シューティング法
  モーションリターゲティング2026/8/4

  動的に実現可能な全身軌道を生成するため、微分可能なシミュレータを非線形計画法に組み込み、接触や摩擦などを内部で解決する新しいリターゲティング手法を提案。強化学習の訓練を加速し、実機でのゼロショット転送も実証した。

• Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
  2026/8/1
• PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
  2026/7/1
• HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
  2026/6/4
• Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
  2026/6/1
• HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
  2026/6/1
• On Surprising Effects of Risk-Aware Domain Randomization for Contact-Rich Sampling-based Predictive Control
  2026/5/1
• MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
  2026/3/1
• Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
  2026/1/1
• DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control
  2025/5/1
• Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
  2025/2/1
• Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
  2025/1/1
• Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control
  2024/9/1
• Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
  2024/9/1
• Continuous Dynamic Bipedal Jumping via Real-time Variable-model Optimization
  2024/4/1
• Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research
  2023/12/1
• Kinodynamics-based Pose Optimization for Humanoid Loco-manipulation
  2023/3/1
• Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC
  2022/9/1
• Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots
  2022/9/1
• Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles
  2021/9/1
• Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots
  2021/4/1