Tootfinder

Source: Amazon is developing software for humanoid robots to deliver packages and is near completion of an indoor "humanoid park" in San Francisco to test them (Rocket Drew/The Information)
https://www.theinformation.com/articles/am

Amazon Prepares to Test Humanoid Robots for Delivering Packages
Amazon is developing software for humanoid robots that could eventually take the jobs of delivery workers, according to a person who has been involved in the effort. In doing so, Amazon is paving the way to automate a major part of its operation, the delivery of parcels around the world.

This https://arxiv.org/abs/2505.24266 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

SignBot: Learning Human-to-Humanoid Sign Language Interaction
Sign language is a natural and visual form of language that uses movements and expressions to convey meaning, serving as a crucial means of communication for individuals who are deaf or hard-of-hearing (DHH). However, the number of people proficient in sign language remains limited, highlighting the need for technological advancements to bridge communication gaps and foster interactions with minorities. Based on recent advancements in embodied humanoid robots, we propose SignBot, a novel framew…

Hugging Face unveils two open-source humanoid robots, the $3,000 full-sized HopeJR and a $250-$300 Reachy Mini desktop unit, expected to ship by the end of 2025 (Rebecca Szkutak/TechCrunch)
https://techcrunch.com/2025/05/29/hugging-face-unveils-two-…

Hugging Face unveils two new humanoid robots | TechCrunch
Hugging Face hopes to start shipping two new open-source humanoid robots by the end of 2025.

Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments
Kwanwoo Lee, Gyeongjae Park, Jaeheung Park
https://arxiv.org/abs/2506.03856

Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time Adjustments
Balance control for humanoid robots has been extensively studied to enable robots to navigate in real-world environments. However, balance controllers that explicitly optimize the durations of both the single support phase, also known as step timing, and the Double Support Phase (DSP) have not been widely explored due to the inherent nonlinearity of the associated optimization problem. Consequently, many recent approaches either ignore the DSP or adjust its duration based on heuristics or on li…

Humanoid World Models: Open World Foundation Models for Humanoid Robotics
Muhammad Qasim Ali, Aditya Sridhar, Shahbuland Matiana, Alex Wong, Mohammad Al-Sharman
https://arxiv.org/abs/2506.01182

Humanoid World Models: Open World Foundation Models for Humanoid Robotics
Humanoid robots have the potential to perform complex tasks in human centered environments but require robust predictive models to reason about the outcomes of their actions. We introduce Humanoid World Models (HWM) a family of lightweight open source video based models that forecast future egocentric observations conditioned on actions. We train two types of generative models Masked Transformers and FlowMatching on 100 hours of humanoid demonstrations. Additionally we explore architectural var…

This https://arxiv.org/abs/2411.14321 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems can be effectively controlled using methods like Model Predictive Control (MPC), the control of nonlinear systems remains complex. One promising solution is the Koopman Operator, which approximates nonlinear dynamics with a linear model, enabling the use of proven linear control techniques. However, achieving accurat…

Why would ASI *build* robots? Why not grow fleshbots?
#postlaboreconomics

Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots
Lingfan Bao, Yan Pan, Tianhu Peng, Chengxu Zhou
https://arxiv.org/abs/2506.01563

Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive generative models. We propose a hierarchical framework that combines intention-aware reasoning via in-context learning (ICL) with real-time motion generation using diffusion models. Our system introduces structured prompting with confidence scoring, fallback behavio…

This https://arxiv.org/abs/2504.14305 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches that mimic whole-body motions often neglect the distinct roles of upper and lower body. This oversight leads to computationally intensive policy learning and frequently causes robot instability and falls during real-world execution. To address these issues, we propose Adversarial Locomotion and Motion Imitation (ALMI…

This https://arxiv.org/abs/2505.22642 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control
Reinforcement learning (RL) has driven significant progress in robotics, but its complexity and long training times remain major bottlenecks. In this report, we introduce FastTD3, a simple, fast, and capable RL algorithm that significantly speeds up training for humanoid robots in popular suites such as HumanoidBench, IsaacLab, and MuJoCo Playground. Our recipe is remarkably simple: we train an off-policy TD3 agent with several modifications -- parallel simulation, large-batch updates, a distri…