Learning Robot Policies for Whole-Body Mobility Assistance via Dynamic Human Motion Generation

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Comments: 9 pages, 8 figures, 3 tables

Code: https://github.com/Genesis-Embodied-AI/genesis-world

Project page: https://rchi-lab.github.io/human-gen-mobility-assistance

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• DeFM: Learning Foundation Representations from Depth for Robotics
• DepthVLA: Enhancing Vision-Language-Action Models with Depth-Aware Spatial Reasoning
• Proximal Policy Optimization Algorithms

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