Zhen Fu

CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation

Wenqi Ge, Junde Guo, Zhen Fu, Shunpeng Yang, Jiayu Chen, Hua Chen

Achieving everyday tasks with humanoid robots requires coordinating stable locomotion with versatile manipulation. However, existing whole-body controllers still face significant challenges. Methods trained solely via command sampling, without motion-capture (MoCap) data, often s…Read more