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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.RO2026
GLoRI: Closed-Loop Whole-Body Tracking with Global-Local Reference Interaction for Humanoid Loco-Manipulation
Qingyao Xu, Sheng Yin, Zibo Zhou +3
Humanoid loco-manipulation requires accurate whole-body motion tracking in the world frame for physical interaction. While local references preserve motion structure, they lack exp…