Robotic piano playing is a challenging benchmark for biomimetic dexterous manipulation, requiring precise timing, coordinated multi-finger motion, and stable key contact. This study proposes a robotic piano-playing framework based on a two-stage reinforcement learning curriculum. Musical Instrument Digital Interface (M...
Lei Jiang, Jin-Yi Chen, Kai-Xin Lan et al.· Biomimetics· 0 citations
Perceptive General Motion Tracking pipeline for humanoid robots that learns terrain adaptation from independently selected motion references and terrains, providing a unified policy for terrain-adaptive locomotion, diverse whole-body behaviors, and teleoperation in complex environments.
Hong-Yi Li, Pei-Zhuo Li, Yu-Cheng Tao et al.· 3 citations
ConceptTree is a framework that reframes high-level manipulation skill selection as reasoning over human-interpretable concepts, representing high-level policies as a sequence of concept-level predicates over visual observations, resulting in a transparent decision process that is both traceable and intervenable, enabl...
