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cs.RO2026
-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
Zhe Li, Zhenzhe Zhang, Yangyang Wei +8
Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated beh…
cs.RO2026
OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
Yunshen Wang, Shaohang Zhu, Peiyuan Zhi +7
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion…
cs.RO2026
OmniTrack: General Motion Tracking via Physics-Consistent Reference
Yuhan Li, Peiyuan Zhi, Yunshen Wang +6
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, d…