项目经历

🚀 项目 Link to heading

全身VLA
人形机器人全身VLA运动操作
它石智航 TARS Robotics · 全身VLA团队

负责人形机器人全身VLA（视觉-语言-动作）模型的全链路开发，通过统一的感知-推理-运动控制管线，实现集行走与操作于一体的 locomanipulation 能力。

进行中 · 2026

📄 论文 Link to heading

已接收 Link to heading

GMP论文
Natural Humanoid Robot Locomotion with Generative Motion Prior
Haodong Zhang*, Liang Zhang*, Zhenghan Chen, Lu Chen, Yue Wang, Rong Xiong.IROS 2025
全身运动模仿论文
A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
Zhenghan Chen*, Haodong Zhang*, Dongqi Wang, Jiyu Yu, Haocheng Xu, Yue Wang, Rong Xiong.
[论文] [项目主页] [代码]
RCAR 2025
落足点规划论文
Foothold-Based Planning for Legged Robot Autonomous Navigation over Uneven Terrain
Jiyu Yu, Dongqi Wang, Zhenghan Chen, Ci Chen, Rong Xiong, Yue Wang
[论文] [项目主页] [代码]
TMECH 2025
分层MPC论文
A Hierarchical MPC for Locomotion Tracking Control of Humanoid Robots
Dongqi Wang, Zhenghan Chen, Jiyu Yu, Liang Zhang, Yue Wang, Haojian Lu, Shaoxing Qu, Rong Xiong.
[论文] [项目主页] [代码]
RAI 2025
快速运动规划论文
A Fast Motion and Foothold Planning Framework for Legged Robots on Discrete Terrain
Jiyu Yu, Dongqi Wang, Zhenghan Chen, Ci Chen, Shuangpeng Wu, Yue Wang
[论文] [项目主页] [代码]
IROS 2024

在审 Link to heading

TOP论文
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
Zhenghan Chen*, Haocheng Xu*, Haodong Zhang, Liang Zhang, He Li, Dongqi Wang, Jiyu Yu, Yifei Yang, Zhongxiang Zhou, Rong Xiong.修改后重投, RAL 2025
EMP论文
EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation
Haocheng Xu*, Haodong Zhang*, Zhenghan Chen, Rong Xiong
[论文] [项目主页] [代码]
在审, RAL 2025