Jinrui Han

dblp:193/2127 · DBLP profile ↗
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2ranked-venue papers
1as first author
2since 2021 · last 2025
0009-0004-2084-2691ORCID · reported

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 2 · 1 first-author · 2 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Legged, aerial and field robots · 44% Motion planning and robot control · 44% Robot manipulation · 13%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Legged, aerial and field robots › legged robots
humanoid locomotion
0.912025
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills · NeurIPS 2025
Robotics › Motion planning and robot control
whole-body control
0.912025
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills · NeurIPS 2025
Robotics › Robot manipulation › learning from demonstration
motion imitation
0.312025
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills · NeurIPS 2025

Methods — techniques the papers use, named apart from their topics

motion retargeting · 0.9bi-level optimization · 0.9asymmetric actor-critic · 0.9
YearPublicationVenuePosition
2025 KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
abstract
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper presents a physics-based humanoid control framework, aiming to master highly-dynamic human behaviors such as Kungfu and dancing through multi-steps motion processing and adaptive motion tracking. For motion processing, we design a pipeline to extract, filter out, correct, and retarget motions, while ensuring compliance with physical constraints to the maximum extent. For motion imitation, we formulate a bi-level optimization problem to dynamically adjust the tracking accuracy tolerance based on the current tracking error, creating an adaptive curriculum mechanism. We further construct an asymmetric actor-critic framework for policy training. In experiments, we train whole-body control policies to imitate a set of highly dynamic motions. Our method achieves significantly lower tracking errors than existing approaches and is successfully deployed on the Unitree G1 robot, demonstrating stable and expressive behaviors. The project page is https://kungfubot.github.io.
Weiji Xie, Jinrui Han, Jiakun Zheng, Huanyu Li 0014, Jiyuan Shi, Weinan Zhang 0001, Chenjia Bai, Xuelong Li 0001
NeurIPS2
2025 Unsupervised motion-based anomaly detection with graph attention networks for industrial robots labeling
Jinrui Han, Zhen Chen 0017, Di Zhou 0007, Tangbin Xia, Ershun Pan
Eng. Appl. Artif. Intell.1