3 papers
cs.RO2026
KODA: Kinematics--Observation Data Alignment for Humanoid Learning from Human Egocentric Demonstration
Zibo Zhou, Yueru Chen, Junsong Wu +8
Training humanoid whole-body vision-language-action (VLA) policies requires costly robot demonstrations with aligned robot-view observations and controller-compatible whole-body st…
cs.AI2026
How Should a Camera-First AI Agent Work?
Xiaofan Wu, Xi Zeng, Miaoxia Chen +8
Camera-first agents must act on the visual world as it unfolds. We argue that the central obstacle for future camera-first agents is not recognition ability - multimodal models (vi…
cs.RO2025
PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization
Zixing Lei, Zibo Zhou, Sheng Yin +7
Humanoid whole-body control (WBC) policies trained in simulation often suffer from the sim-to-real gap, which fundamentally arises from simulator inductive bias, the inherent assum…