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📢 Excited to share our latest work Conference on Robot Learning: Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility! #CoRL2025 🐶Now ANYmal learns to walk (hop) from real dog motions! 📄Paper: 🌐Project Website:

Robotic Systems Lab

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10,367 次观看 • 11 个月前 •via X (Twitter)

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Excited to share our #NeurIPS2025 work on learning motion hierarchies! We introduce a general hierarchical graph learning method that learns structured, interpretable motion directly from data, no prior structure or assumptions needed!!! Project and Paper: Amazing work led by William Koch, Cheng Zheng, and Baiang Li ! See us in San Diego for #NeurIPS2025!

Excited to share our #NeurIPS2025 work on learning motion hierarchies! We introduce a general hierarchical graph learning method that learns structured, interpretable motion directly from data, no prior structure or assumptions needed!!! Project and Paper: Amazing work led by William Koch, Cheng Zheng, and Baiang Li ! See us in San Diego for #NeurIPS2025!

Felix Heide

25,331 次观看 • 9 个月前

Ever wish a robot could just move to any goal in any environment—avoiding all collisions and reacting in real time? 🚀Excited to share our #CoRL2025 paper, Deep Reactive Policy (DRP), a learning-based motion planner that navigates complex scenes with moving obstacles—directly from point cloud input. w/ Jiahui(Jim) Yang (1/N)

Ever wish a robot could just move to any goal in any environment—avoiding all collisions and reacting in real time? 🚀Excited to share our #CoRL2025 paper, Deep Reactive Policy (DRP), a learning-based motion planner that navigates complex scenes with moving obstacles—directly from point cloud input. w/ Jiahui(Jim) Yang (1/N)

Jason Liu

72,301 次观看 • 11 个月前

Best Systems Paper finalist at #RSS2025 🚀 Excited to share our work on a perceptive forward dynamics model for safe, platform-aware navigation. 📄 🌐 #Robotics #Planning #RSS

Best Systems Paper finalist at #RSS2025 🚀 Excited to share our work on a perceptive forward dynamics model for safe, platform-aware navigation. 📄 🌐 #Robotics #Planning #RSS

Robotic Systems Lab

15,145 次观看 • 1 年前

Excited to share our latest work: “Bio-Inspired Plastic Neural Networks for Zero-Shot Out-of-Distribution Generalization in Complex Animal-Inspired Robots” 🪲🦎 We show that Hebbian learning outperforms LSTM-based adaptation for real-world transfer. It even works without domain randomization! It can handle: ✅ Uneven terrain ✅ Morphological damage ✅ Sim-to-real gaps

Excited to share our latest work: “Bio-Inspired Plastic Neural Networks for Zero-Shot Out-of-Distribution Generalization in Complex Animal-Inspired Robots” 🪲🦎 We show that Hebbian learning outperforms LSTM-based adaptation for real-world transfer. It even works without domain randomization! It can handle: ✅ Uneven terrain ✅ Morphological damage ✅ Sim-to-real gaps

Sebastian Risi

14,390 次观看 • 1 年前

📢📢📢 Excited to share our new work *Autonomous Character-Scene Interaction Synthesis from Text Instruction* (Siggraph Asia 24). It presents a unified model for flexible scene-conditioned motion generation given text, scene, trajectory conditions. The results with smooth interaction look very impressive! 📰Paper: Project: Code and data will be released soon.

📢📢📢 Excited to share our new work Autonomous Character-Scene Interaction Synthesis from Text Instruction (Siggraph Asia 24). It presents a unified model for flexible scene-conditioned motion generation given text, scene, trajectory conditions. The results with smooth interaction look very impressive! 📰Paper: Project: Code and data will be released soon.

Siyuan Huang

11,451 次观看 • 1 年前

We are excited to share our #CORL2024 paper (oral) on "Learning Quadruped Locomotion Using Differentiable Simulation" done in collaboration with Sangbae Kim Massachusetts Institute of Technology (MIT). We present a new way to learn to walk in minutes without parallelization, outperforming PPO in sample efficiency! PDF: Video: We present a new framework for learning quadruped locomotion. By leveraging differentiable simulation for policy optimization, our approach achieves fast convergence and stable training, significantly outperforming model-free #ReinforcementLearning methods like PPO in sample efficiency. The key enabler is to combine a high-fidelity, non-differentiable simulator for forward dynamics with a simplified surrogate model for gradient backpropagation. Our framework enables learning quadruped walking in simulation in minutes without parallelization. When augmented with GPU parallelization, our approach allows the quadruped robot to master diverse locomotion skills on challenging terrains in minutes. This work highlights one of the first successful real-world applications of differentiable simulation for quadruped robots, offering a compelling alternative to traditional RL methods. Kudos to Yunlong Song! UZH Science University of Zurich UZH Space Hub UZH IfI European Research Council (ERC) Massachusetts Institute of Technology (MIT)MechE

We are excited to share our #CORL2024 paper (oral) on "Learning Quadruped Locomotion Using Differentiable Simulation" done in collaboration with Sangbae Kim Massachusetts Institute of Technology (MIT). We present a new way to learn to walk in minutes without parallelization, outperforming PPO in sample efficiency! PDF: Video: We present a new framework for learning quadruped locomotion. By leveraging differentiable simulation for policy optimization, our approach achieves fast convergence and stable training, significantly outperforming model-free #ReinforcementLearning methods like PPO in sample efficiency. The key enabler is to combine a high-fidelity, non-differentiable simulator for forward dynamics with a simplified surrogate model for gradient backpropagation. Our framework enables learning quadruped walking in simulation in minutes without parallelization. When augmented with GPU parallelization, our approach allows the quadruped robot to master diverse locomotion skills on challenging terrains in minutes. This work highlights one of the first successful real-world applications of differentiable simulation for quadruped robots, offering a compelling alternative to traditional RL methods. Kudos to Yunlong Song! UZH Science University of Zurich UZH Space Hub UZH IfI European Research Council (ERC) Massachusetts Institute of Technology (MIT)MechE

Davide Scaramuzza

15,554 次观看 • 1 年前

Thrilled to share one of my favorite works this year: DexNDM! We bridge the Sim2Real gap for dexterous in-hand rotation, achieving a true "0-to-1" advancement. The key? DexNDM learns from biased, real-world data without needing any successful demonstrations. Now a general-purpose dexterous hand can stably rotate large books, long rods, & complex objects around any axis, from any wrist pose. This powerful primitive enables complex, long-horizon tasks like teleoperated screwing and furniture assembly. 📄 Paper: 🌐 Project Page:

Thrilled to share one of my favorite works this year: DexNDM! We bridge the Sim2Real gap for dexterous in-hand rotation, achieving a true "0-to-1" advancement. The key? DexNDM learns from biased, real-world data without needing any successful demonstrations. Now a general-purpose dexterous hand can stably rotate large books, long rods, & complex objects around any axis, from any wrist pose. This powerful primitive enables complex, long-horizon tasks like teleoperated screwing and furniture assembly. 📄 Paper: 🌐 Project Page:

Li Yi

38,751 次观看 • 9 个月前

Excited to finally share Generative Value Learning (GVL), my Google DeepMind project on extracting universal value functions from long-context VLMs via in-context learning! We discovered a simple method to generate zero-shot and few-shot values for 300+ robot tasks and 50+ datasets using SOTA VLMs like Gemini (Try out the demo on our website on your robot video today!) I worked a lot on leveraging foundation models as guidance for robots in my PhD, and to me, this result forges a new frontier in how we can use foundation models for robot learning, given its broad applicability independent of embodiment and task types. Quite excited about how we can build on this work as a community!

Excited to finally share Generative Value Learning (GVL), my Google DeepMind project on extracting universal value functions from long-context VLMs via in-context learning! We discovered a simple method to generate zero-shot and few-shot values for 300+ robot tasks and 50+ datasets using SOTA VLMs like Gemini (Try out the demo on our website on your robot video today!) I worked a lot on leveraging foundation models as guidance for robots in my PhD, and to me, this result forges a new frontier in how we can use foundation models for robot learning, given its broad applicability independent of embodiment and task types. Quite excited about how we can build on this work as a community!

Jason Ma

98,090 次观看 • 1 年前

Excited to share our latest work on 🎧spatial audio-driven human motion generation. We aim to tackle a largely underexplored yet important problem of enabling virtual humans to move naturally in response to spatial audio—capturing not just what is heard, but also where the sound is coming from. To this end, we introduce the Spatial Audio-Driven Human Motion (SAM) dataset—the first comprehensive dataset featuring paired high-quality human motion and spatial audio recordings. For benchmarking, we develop a generative framework for human MOtion generation driven by SPAtial audio, termed MOSPA, which learns to synthesize realistic and diverse human motions conditioned on spatial audio input. We hope this research could provide a foundation for future research in spatial perception, virtual characters, and embodied AI. The dataset and model will be open-sourced soon. A big thank you to our intern, Shuyang Xu, for the wonderful collaboration! Congratulations, Shuyang! Project page: Paper: Video: #Animation #CG #CV #AIGC #DL #Deeplearning #Motion #Graphics #AI #GenerativeAI

Excited to share our latest work on 🎧spatial audio-driven human motion generation. We aim to tackle a largely underexplored yet important problem of enabling virtual humans to move naturally in response to spatial audio—capturing not just what is heard, but also where the sound is coming from. To this end, we introduce the Spatial Audio-Driven Human Motion (SAM) dataset—the first comprehensive dataset featuring paired high-quality human motion and spatial audio recordings. For benchmarking, we develop a generative framework for human MOtion generation driven by SPAtial audio, termed MOSPA, which learns to synthesize realistic and diverse human motions conditioned on spatial audio input. We hope this research could provide a foundation for future research in spatial perception, virtual characters, and embodied AI. The dataset and model will be open-sourced soon. A big thank you to our intern, Shuyang Xu, for the wonderful collaboration! Congratulations, Shuyang! Project page: Paper: Video: #Animation #CG #CV #AIGC #DL #Deeplearning #Motion #Graphics #AI #GenerativeAI

Zhiyang (Frank) Dou

14,610 次观看 • 1 年前

What if robots could learn real-world tasks from your perspective… without ever touching a robot? This is a system that trains robot policies using nothing but human-first, egocentric video data from smart glasses. No robots, no teleop, no sensors, just humans doing real tasks in the real world. Why it matters ✅ Learns robot policies from 20 minutes of human video; zero robot demos ✅ Generalizes to new objects, views, and even robot morphologies ✅ Uses 3D points for interpretable, spatially grounded learning ✅ Deploys directly to real-world robots with strong zero-shot success Thank you, Vincent Liu, for sharing!!! Learn more here: 🔗 Paper: 🌐 Website: 📍 BOOKMARK FOR LATER

What if robots could learn real-world tasks from your perspective… without ever touching a robot? This is a system that trains robot policies using nothing but human-first, egocentric video data from smart glasses. No robots, no teleop, no sensors, just humans doing real tasks in the real world. Why it matters ✅ Learns robot policies from 20 minutes of human video; zero robot demos ✅ Generalizes to new objects, views, and even robot morphologies ✅ Uses 3D points for interpretable, spatially grounded learning ✅ Deploys directly to real-world robots with strong zero-shot success Thank you, Vincent Liu, for sharing!!! Learn more here: 🔗 Paper: 🌐 Website: 📍 BOOKMARK FOR LATER

Ilir Aliu - eu/acc

10,509 次观看 • 1 年前

Quadrupeds are fast. Agile. Great at locomotion. But can they manipulate? A new approach from Carnegie Mellon University, Google DeepMind, and Bosch is teaching quadrupedal robots to do more than walk, they’re learning to interact. It’s called Human2LocoMan: a system that uses human data to pretrain robot policies before finetuning on real hardware. The result? A four-legged robot that can walk, carry, organize, scoop, and sort with both single and dual-arm control. By pretraining on human motion, they cut the amount of robot data in half—while improving success rates by over 80% in unfamiliar environments. Their Modularized Cross-Embodiment Transformer (MXT) learns from both human and robot demonstrations, then generalizes those skills to physical tasks—no hardcoded behaviors required. It’s locomotion and manipulation. A quadruped that can walk and clean up after itself?

Quadrupeds are fast. Agile. Great at locomotion. But can they manipulate? A new approach from Carnegie Mellon University, Google DeepMind, and Bosch is teaching quadrupedal robots to do more than walk, they’re learning to interact. It’s called Human2LocoMan: a system that uses human data to pretrain robot policies before finetuning on real hardware. The result? A four-legged robot that can walk, carry, organize, scoop, and sort with both single and dual-arm control. By pretraining on human motion, they cut the amount of robot data in half—while improving success rates by over 80% in unfamiliar environments. Their Modularized Cross-Embodiment Transformer (MXT) learns from both human and robot demonstrations, then generalizes those skills to physical tasks—no hardcoded behaviors required. It’s locomotion and manipulation. A quadruped that can walk and clean up after itself?

Lukas Ziegler

61,610 次观看 • 1 年前

A robot that sees the terrain and predicts its own future… up to 5 seconds ahead? This is real. ❗️Best Systems Paper finalist at #RSS2025 The team introduces a perceptive Forward Dynamics Model that helps legged robots safely navigate rough, complex environments: no manual tuning no rigid-body limits. Why this matters ✅ Predicts future robot states using both perception and proprioception ✅ Trained on years of sim + real data for strong sim-to-real performance ✅ Enables zero-shot navigation with minimal cost tuning ✅ Boosts success rates and safety on rough terrain like never before This isn’t just another planner, it’s a big step toward robust, adaptable locomotion. Paper: Project website:

A robot that sees the terrain and predicts its own future… up to 5 seconds ahead? This is real. ❗️Best Systems Paper finalist at #RSS2025 The team introduces a perceptive Forward Dynamics Model that helps legged robots safely navigate rough, complex environments: no manual tuning no rigid-body limits. Why this matters ✅ Predicts future robot states using both perception and proprioception ✅ Trained on years of sim + real data for strong sim-to-real performance ✅ Enables zero-shot navigation with minimal cost tuning ✅ Boosts success rates and safety on rough terrain like never before This isn’t just another planner, it’s a big step toward robust, adaptable locomotion. Paper: Project website:

Ilir Aliu

43,990 次观看 • 1 年前

Humanoids finally move like humans… and can do more than copy. [Details + demos in thread 👇] A new framework, BeyondMimic, shows how to learn naturalistic whole-body control from human motion. But then goes further by composing those skills into versatile, zero-shot policies. Two key pieces make it work: •Motion tracking pipeline: robustly turns human mocap into dynamic robot motions (jump spins, sprinting, cartwheels) on real hardware •Guided diffusion policy: distills motion primitives and enables zero-shot downstream tasks with simple cost functions The result: ✅ State-of-the-art motion quality from mocap tracking ✅ Versatile task execution; waypoint navigation, joystick teleop, obstacle avoidance ✅ Stable sim-to-real transfer for diverse humanoid skills Thank you for sharing, Qiayuan Liao! 📍 Paper: Video:

Humanoids finally move like humans… and can do more than copy. [Details + demos in thread 👇] A new framework, BeyondMimic, shows how to learn naturalistic whole-body control from human motion. But then goes further by composing those skills into versatile, zero-shot policies. Two key pieces make it work: •Motion tracking pipeline: robustly turns human mocap into dynamic robot motions (jump spins, sprinting, cartwheels) on real hardware •Guided diffusion policy: distills motion primitives and enables zero-shot downstream tasks with simple cost functions The result: ✅ State-of-the-art motion quality from mocap tracking ✅ Versatile task execution; waypoint navigation, joystick teleop, obstacle avoidance ✅ Stable sim-to-real transfer for diverse humanoid skills Thank you for sharing, Qiayuan Liao! 📍 Paper: Video:

Ilir Aliu - eu/acc

72,522 次观看 • 1 年前

Haven't been to a conference in a while, really excited to be at #NeurIPS2024! I'll be helping present 4 of our group's recent papers: 1. Overcoming the Sim-to-Real Gap: Leveraging Simulation to Learn to Explore for Real-World RL 2. Distributional Successor Features Enable Zero-Shot Policy Optimization 3. Learning to Cooperate with Humans using Generative Agents 4. Personalizing Reinforcement Learning from Human Feedback with Variational Preference Learning Find more details on each paper and where to find us in this thread (1/6)

Haven't been to a conference in a while, really excited to be at #NeurIPS2024! I'll be helping present 4 of our group's recent papers: 1. Overcoming the Sim-to-Real Gap: Leveraging Simulation to Learn to Explore for Real-World RL 2. Distributional Successor Features Enable Zero-Shot Policy Optimization 3. Learning to Cooperate with Humans using Generative Agents 4. Personalizing Reinforcement Learning from Human Feedback with Variational Preference Learning Find more details on each paper and where to find us in this thread (1/6)

Abhishek Gupta

10,803 次观看 • 1 年前

We’re excited to share DiT4DiT, an end-to-end Video-Action Model for robot learning that unifies a video Diffusion Transformer and an action Diffusion Transformer in a single cascaded framework. By leveraging the rich spatiotemporal and physical dynamics learned through video generation, rather than static image-text priors, DiT4DiT achieves state-of-the-art results on LIBERO (98.6%) and RoboCasa GR1 (50.8%) with far less training data, delivering over 10× better sample efficiency and up to 7× faster convergence. Real-world deployment on a humanoid robot further shows robust generalization. We believe this is a step toward making video generation a powerful backbone for robot policy learning. This work builds upon the brilliant foundations laid by Nvidia's GR00T and Cosmos. Project: Paper: Code: Coming soon. In the meantime, you can ask your coding agent to reproduce the method based on GR00T/Cosmos.

We’re excited to share DiT4DiT, an end-to-end Video-Action Model for robot learning that unifies a video Diffusion Transformer and an action Diffusion Transformer in a single cascaded framework. By leveraging the rich spatiotemporal and physical dynamics learned through video generation, rather than static image-text priors, DiT4DiT achieves state-of-the-art results on LIBERO (98.6%) and RoboCasa GR1 (50.8%) with far less training data, delivering over 10× better sample efficiency and up to 7× faster convergence. Real-world deployment on a humanoid robot further shows robust generalization. We believe this is a step toward making video generation a powerful backbone for robot policy learning. This work builds upon the brilliant foundations laid by Nvidia's GR00T and Cosmos. Project: Paper: Code: Coming soon. In the meantime, you can ask your coding agent to reproduce the method based on GR00T/Cosmos.

Shuo Yang

31,872 次观看 • 5 个月前

Humanoid robots can now play tennis in the style of Nadal, Federer, and Djokovic, learned from broadcast footage. AdaPT (Noitom Robotics, Shanghai AI Lab, Dobot, SJTU) extracts professional player motions from TV broadcasts, retargets them to a humanoid, and learns both rallying and serving while preserving each player's distinctive style. The core problem: decoupled planning-and-tracking works in sim but degrades badly on real hardware. Their fix is speed adaptation, training the tracker on randomized execution speeds while the planner learns to adjust motion speed to the incoming ball. Deployed on Unitree G1 and the full-size Dobot Atom. Worth noting on the sensing: the robot has no onboard vision. Ball and robot position both come from external infrastructure, a 35-camera motion-capture arena in the lab. Paper:

Humanoid robots can now play tennis in the style of Nadal, Federer, and Djokovic, learned from broadcast footage. AdaPT (Noitom Robotics, Shanghai AI Lab, Dobot, SJTU) extracts professional player motions from TV broadcasts, retargets them to a humanoid, and learns both rallying and serving while preserving each player's distinctive style. The core problem: decoupled planning-and-tracking works in sim but degrades badly on real hardware. Their fix is speed adaptation, training the tracker on randomized execution speeds while the planner learns to adjust motion speed to the incoming ball. Deployed on Unitree G1 and the full-size Dobot Atom. Worth noting on the sensing: the robot has no onboard vision. Ball and robot position both come from external infrastructure, a 35-camera motion-capture arena in the lab. Paper:

The Humanoid Hub

85,497 次观看 • 8 天前

📢📢📢 Excited to release ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning (CVPR25). 🤏🤙✌️With ManipTrans, we can transfer dexterous manipulation skills into robotic hands in simulation and deploy them on a real robot, using a residual policy learned for dex manipulation. 🤖🤖🤖The video below illustrates how the MoCap data can be transferred to Inspire, Shadow, Xhand, Allegro, and Mano. With ManipTrans, we can scale up dex manip data greatly with minimal effort. For more details, please check our -webpage: -code: -huggingface:

📢📢📢 Excited to release ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning (CVPR25). 🤏🤙✌️With ManipTrans, we can transfer dexterous manipulation skills into robotic hands in simulation and deploy them on a real robot, using a residual policy learned for dex manipulation. 🤖🤖🤖The video below illustrates how the MoCap data can be transferred to Inspire, Shadow, Xhand, Allegro, and Mano. With ManipTrans, we can scale up dex manip data greatly with minimal effort. For more details, please check our -webpage: -code: -huggingface:

Siyuan Huang

20,983 次观看 • 1 年前

We are excited to share our latest work, "Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation", where a policy learns to adapt in the real world to unknown disturbances within 5 seconds, both with and without explicit state estimation, directly from visual features. Code released! PDF: Project Page: Starting from a simple analytical dynamics model, the system continuously learns residual dynamics from real-world data and embeds the refined model into a differentiable simulator. This enables fast, gradient-based policy updates that are far more sample-efficient than classical #ReinforcementLearning. We demonstrate rapid adaptation in <5 seconds in agile quadrotor control under challenging conditions, including added payloads, wind disturbances, and large sim-to-real gaps. In real-world experiments, our method reduces hovering error by up to 81% compared to L1-MPC and 55% compared to PPO-based adaptive methods. It also operates directly from visual features without explicit state estimation. Reference: “Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation” IEEE Robotics and Automation Letters, 2026 PDF: Video: Code: Website: Kudos to Michael Pan, Jiaxu Xing, Rudolf Reiter, Yifan Zhai, Elie Aljalbout! UZH Space Hub UZH IfI European Research Council (ERC) AUTOASSESS UZH Science University of Zurich

We are excited to share our latest work, "Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation", where a policy learns to adapt in the real world to unknown disturbances within 5 seconds, both with and without explicit state estimation, directly from visual features. Code released! PDF: Project Page: Starting from a simple analytical dynamics model, the system continuously learns residual dynamics from real-world data and embeds the refined model into a differentiable simulator. This enables fast, gradient-based policy updates that are far more sample-efficient than classical #ReinforcementLearning. We demonstrate rapid adaptation in <5 seconds in agile quadrotor control under challenging conditions, including added payloads, wind disturbances, and large sim-to-real gaps. In real-world experiments, our method reduces hovering error by up to 81% compared to L1-MPC and 55% compared to PPO-based adaptive methods. It also operates directly from visual features without explicit state estimation. Reference: “Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation” IEEE Robotics and Automation Letters, 2026 PDF: Video: Code: Website: Kudos to Michael Pan, Jiaxu Xing, Rudolf Reiter, Yifan Zhai, Elie Aljalbout! UZH Space Hub UZH IfI European Research Council (ERC) AUTOASSESS UZH Science University of Zurich

Davide Scaramuzza

19,184 次观看 • 7 个月前