8 papers
Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies
Fangyuan Wang, Songhao Huang, Haoxiang Sun +5
Generative robot policies predict short action chunks but lack explicit long-horizon intent. Recent methods expose longer-horizon structure through language plans, subgoal images,…
How much of fly walking is written in the wiring?
Isabel Guan, Yuntian Zhao, Dingyuan Zhang +2
Connectome models of the fly nerve cord generate walking-like motor rhythms, but oscillation alone does not show that the specific wiring matters. Here we provide, to our knowledge…
Humanoid Locomotion with a Fly-Inspired Recurrent Controller
Isabel Guan, Yuntian Zhao, Dingyuan Zhang +1
We investigate humanoid locomotion with a fly-inspired recurrent controller and identify the pathways supporting its deployed behavior. The controller couples 3,609 continuous neur…
Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies
Fangyuan Wang, Peng Zhou, Jiaming Qi +4
Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, preventing robot state from grounding instruction understanding or directing…
Phy-Tac: Toward Human-Like Grasping via Physics-Conditioned Tactile Goals
Shipeng Lyu, Lijie Sheng, Fangyuan Wang +5
Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-i…
HuBE: Cross-Embodiment Human-like Behavior Execution for Humanoid Robots
Shipeng Lyu, Fangyuan Wang, Weiwei Lin +3
Achieving both behavioral similarity and appropriateness in human-like motion generation for humanoid robot remains an open challenge, further compounded by the lack of cross-embod…
Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation
Fangyuan Wang, Shipeng Lyu, Peng Zhou +3
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longsta…
Predict the Rover Mobility over Soft Terrain using Articulated Wheeled Bevameter
Wenyao Zhang, Shipeng Lv, Feng Xue +3
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip an…