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EgoAlign: Bridging the Human-Humanoid Gap for Long-Range Loco-Manipulation
Yiming Jiang, Chen Jin, Jin Chen +4
Egocentric human demonstrations offer an accessible source of task experience, but differences in body scale and controller response, together with missing robot states, limit thei…
EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation
Jin Chen, Yiming Jiang, Chongyang Xu +8
Human demonstrations capture diverse scenes and rich whole-body skills without requiring robot teleoperation. Prior work on egocentric transfer has emphasized scene generalization…
Stability-Driven Motion Generation for Object-Guided Human-Human Co-Manipulation
Jiahao Xu, Xiaohan Yuan, Xingchen Wu +3
Co-manipulation requires multiple humans to synchronize their motions with a shared object while ensuring reasonable interactions, maintaining natural poses, and preserving stable…
Contrastive Multi-Modal Hypergraph Reasoning for 3D Crowd Mesh Recovery
Minghao Sun, Chongyang Xu, Yitao Xie +2
Multi-person 3D reconstruction is pivotal for real-world interaction analysis, yet remains challenging due to severe occlusions and depth ambiguity. Current approaches typically re…
Ada3Drift: Adaptive Training-Time Drifting for One-Step 3D Visuomotor Robotic Manipulation
Chongyang Xu, Yixian Zou, Tianyu Yang +4
Diffusion-based visuomotor policies model complex action distributions through iterative denoising, but repeated inference adds latency to robotic control. One-step generators redu…
Action-Geometry Prediction with 3D Geometric Prior for Bimanual Manipulation
Chongyang Xu, Haipeng Li, Shen Cheng +4
Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing metho…
HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulation
Chongyang Xu, Shen Cheng, Haipeng Li +3
Imitation learning for robotic manipulation has progressed from 2D image policies to 3D representations that explicitly encode geometry. Yet purely geometric policies often lack ex…