HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit

Qingwei Ben*, Feiyu Jia*, Jia Zeng, Junting Dong, Dahua Lin, Jiangmiao Pang†

[Project website] [Paper] [Code]

HOMIE is a semi-autonomous teleoperation system that combines a reinforcement learning policy for body control mapped to a pedal, an isomorphic exoskeleton arm for arm control, and motion-sensing gloves for hand control, forming a unified cockpit to freely operate humanoids and establish a data flywheel.

Gallant: Voxel grid-based humanoid locomotion and local-navigation across 3d constrained terrains

Qingwei Ben*, Botian Xu*, Kailin Li*, Feiyu Jia, Wentao Zhang, Jingping Wang, Jingbo Wang†, Dahua Lin†, Jiangmiao Pang†.

[Project website] [Paper] [Code]

We introduce Gallant, the first system to run a single policy that handles full-space constraints — including ground-level barriers, lateral clutter, and overhead obstacles on a humanoid robot.

One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation

Juncheng Mu*, Sizhe Yang*, Hojin Bae, Feiyu Jia, Qingwei Ben, Boyi Li†, Huazhe Xu†, Jiangmiao Pang†.

[Project website] [Paper] [Code]

We introduce One-Policy-Fits-All (OPFA), a general framework for cross-embodiment manipulation. OPFA leverages the geometric structures of diverse end-effectors to construct a unified latent action representation, and employs a unified latent retargeting decoder to recover embodiment-specific actions.

AdaMimic: Towards Adaptable Humanoid Control via Adaptive Motion Tracking

Tao Huang, Huayi Wang, Junli Ren, Kangning Yin, Zirui Wang, Xiao Chen, Feiyu Jia, Wentao Zhang, Junfeng Long, Jingbo Wang†, Jiangmiao Pang†

[Project website] [Paper] [Code]

We introduce AdaMimic, a novel motion tracking algorithm that enables adaptable humanoid control from a single reference motion.

PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System

Huayi Wang*, Wentao Zhang*, Runyi Yu*, Tao Huang, Junli Ren, Feiyu Jia, Xiaojie Niu, Xiao Chen, Jiahe Chen, Qifeng Chen†, Jingbo Wang†, Jiangmiao Pang†

[Project website] [Paper] [Code]

We present a physical-world humanoid-scene interaction system, PhysHSI, that enables humanoids to autonomously perform diverse interaction tasks while maintaining natural and lifelike behaviors. PhysHSI comprises a simulation training pipeline and a real-world deployment system.