High-speed racket sports provide a demanding testbed for humanoid robots, requiring time-critical decisions, precise striking, and dynamic whole-body coordination. In badminton, fast-changing shuttle trajectories require timely contact decisions, while successful returns demand precise racket pose and velocity within a …
Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in cluttered scenes. Active perception via next-best-view (NBV) planning can resolve such occlusions by moving the camera for more informative o …
Learning humanoid-object interaction requires coordinating whole-body balance, locomotion, and dexterous hand contact to control both robot and object motion. Human demonstrations provide examples of coordinated interaction, but transferring these behaviors to humanoid robots requires learning how to establish and main …