I do research in robotics, mainly focusing on applying reinforcement learning to endow robots with human-like behaviors.
Humanoid Locomotion: reinforcement learning, whole-body control, motion imitation
Loco-Manipulation: learning to humanoid-object interaction skills
📄 projects
HUSKY:Humanoid Skateboarding System via Physics-Aware Whole-Body Control In Submission Jinrui Han*, Dewei Wang*, Chenyun Zhang, Xinzhe Liu, Ping Luo, Chenjia Bai†, Xuelong Li
[PDF]
| [CODE]
| [DEMO]
TL;DR:
A reinforcement learning–based whole-body control framework for stable and agile humanoid skateboarding.
TextOp:Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Controll In Submission
Weiji Xie, Jiakun Zheng, Jinrui Han, Jiyuan Shi, Weinan Zhang, Chenjia Bai†, Xuelong Li
[PDF]
| [CODE]
| [DEMO]
TL;DR:
A real-time interactive text-driven framework for humanoid motion generation and control that supports streaming language commands.
Learning Soccer Skills for Humanoid Robots A Progressive Perception-Action Framework In Submission
Jipeng Kong, Xinzhe Liu, Yuhang Lin, Jinrui Han, Sören Schwertfeger, Chenjia Bai†, Xuelong Li
[PDF]
| [CODE]
| [DEMO]
TL;DR:
A progressive perception–action framework enabling robust, human-like soccer kicking on humanoid robots.
