5 citations · 7 across the 8 of their papers we have counts for
6 papers · 1 filter
MimicAll: Structured Embodiment Conditioning for Cross-Humanoid Whole-Body Motion Tracking
Jia Li, Lingyun Xu, Yitang Li +1
Humanoid motion trackers reproduce diverse behaviors, but sharing a policy across bodies requires accounting for differences in structure, morphology and dynamics. We present Mimic…
P-BFM: Perceptive Behavioral Foundation Models for Humanoid Control via Unsupervised Reinforcement Learning
Xue Wang, Yitang Li, Yiming Zhang +7
Behavioral foundation models (BFMs) provide humanoids with reusable repertoires of whole-body behaviors; in real-world humanoid control, the same behavioral intent may require fund…
From Hitter to Player: Separating Motor Execution and Strategy in Competitive Humanoid Table Tennis
Fanrong Dong, Ziyi Sun, Ziqi Han +6
Competitive humanoid table tennis requires two distinct abilities: executing a desired return and deciding where to return the ball. We separate these two problems, with the ball l…
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Lei Ye, Haibo Gao, Yitang Li +10
Diffusion models provide a flexible framework for motion generation, but turning this flexibility into closed-loop humanoid control remains challenging. Hierarchical generator-trac…
GaussianWAM: Distilling Geometry and Semantics from 3D Gaussian Fields into World-Action Models
Zijian Zhang, Yuqing Jiang, Weitao Zhou +6
World-Action Models (WAMs) jointly learn future visual prediction and action generation, using video dynamics as a representation-learning signal for robotic manipulation. However,…
PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments
Kairui Ding, Boyuan Chen, Ruihai Wu +8
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning…