mirror/index.html at master · Caltech-AMBER/mirror · GitHub

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            <!-- TODO: Replace with your paper title -->
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              <h1 class="title is-1 publication-title" style="margin-bottom: 0;">
                <img src="static/mirror/hero icon.png" alt="MIRROR Logo" style="height: 60px; width: auto; display: inline; margin-right: 10px; vertical-align: middle; border-radius: 12px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1); opacity: 0.95;"><span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700; letter-spacing: 2px; text-shadow: 0 0 20px rgba(224, 224, 224, 0.5); filter: drop-shadow(2px 2px 4px rgba(0, 0, 0, 0.3));">MIRROR</span>
              </h1>
              <h2 class="title is-3 publication-title" style="margin-top: 10px;">Visual <span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700;">M</span>otion <span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700;">I</span>mitation via <span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700;">R</span>eal-time <span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700;">R</span>etargeting and Tele<span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700;">O</span>pe<span style="background: linear-gradient(90deg, #e0e0e0 0%, #ffffff 25%, #e0e0e0 50%, #ffffff 75%, #e0e0e0 100%); -webkit-background-clip: text; -webkit-text-fill-color: transparent; background-clip: text; font-weight: 700;">R</span>ation with Parallel Differential Inverse Kinematics
              </h2>
            </div>
            <div class="is-size-5 publication-authors">
              <!-- TODO: Replace with your paper authors and their personal links -->
              <span class="author-block">
                  <span class="author-block">
                    <a href="https://junhengl.github.io/" target="_blank">Junheng Li</a>,</span>
                    <span class="author-block">
                      <a href="https://lzyang2000.github.io/" target="_blank">Lizhi Yang</a>,</span>
                      <span class="author-block">
                        <a href="https://scholar.google.com/citations?user=TjWwqmwAAAAJ&hl=en" target="_blank">Aaron D. Ames</a>
                  </span>
                  </div>

                  <div class="is-size-5 publication-authors">
                    <!-- TODO: Replace with your institution and conference/journal info -->
                    <span class="author-block"><a href="http://www.bipedalrobotics.com/" target="_blank">AMBER LAB</a>, California Institute of Technology</span>
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                    <p style="font-size: 16px; font-weight: 500; color: #333; margin-bottom: 15px;">This work is supported by:</p>
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      <h2 class="subtitle has-text-centered">
        Visual Skeleton Motion Capture, Retargeting and, Teleoperation on Humanoid Robot.
      </h2>
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</section>
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          <p>
            Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. While differential IK enables efficient online retargeting, its locally linearized updates are inherently basin-dependent and often become trapped near joint limits, singularities, or active collision boundaries, leading to unsafe or stagnant behavior. We propose a GPU-parallelized, continuation-based differential IK that improves escape from such constraint-induced local minima while preserving real-time performance, promoting safety and stability. Multiple constrained IK quadratic programs are evaluated in parallel, together with a self-collision avoidance control barrier function (CBF), and a Lyapunov-based progression criterion selects updates that reduce the final global task-space error. The method is paired with a visual skeletal pose estimation pipeline that enables robust, real-time upper-body teleoperation on the THEMIS humanoid robot hardware in real-world tasks.
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              <source src="static/mirror/collision.mp4" type="video/mp4">
            </video>
            <div class="video-caption">
              <p class="has-text-weight-semibold">Self-Collision Avoidance Demonstration</p>
            </div>
          </div>
        </div>

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          <div class="video-card">
            <video poster="" id="video2" controls muted loop style="width: 100%; height: auto;" preload="metadata">
              <source src="static/mirror/joint stagnation.mp4" type="video/mp4">
            </video>
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              <p class="has-text-weight-semibold">Joint Stagnation Avoidance Demonstration</p>
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          <div class="video-card">
            <video poster="" id="video3" controls muted loop style="width: 100%; height: auto;" preload="metadata">
              <source src="static/mirror/multitarget.mp4" type="video/mp4">
            </video>
            <div class="video-caption">
              <p class="has-text-weight-semibold">Robustness to Multi-Target Perturbations</p>
            </div>
          </div>
        </div>

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          <div class="video-card">
            <video poster="" id="video4" controls muted loop style="width: 100%; height: auto;" preload="metadata">
              <source src="static/mirror/occlusion.mp4" type="video/mp4">
            </video>
            <div class="video-caption">
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              <source src="static/mirror/upper teleop.mp4" type="video/mp4">
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              <p class="has-text-weight-semibold">Direct PD-Control Mode</p>
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      <pre id="bibtex-code"><code>@article{walktheplanc2026,
  title={Walk the PLANC: Physics‑Guided RL for Agile Humanoid LocomotioN on Constrained Footholds},
  author={Dai, Min and Compton, William D. and Li, Junheng and Yang, Lizhi and Ames, Aaron D.},
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