7 papers
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…
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…
Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation
Zixing Lei, Gengze Zhou, Xiong-Hui Chen +7
Long-horizon physical-world agents must reason over distant goals while grounding decisions in reliable closed-loop behavior. Today's foundation models split these capabilities: vi…
From Digital to Physical: Digital Agents as Autonomous Coaches for Physical Intelligence
Zixing Lei, Genjia Liu, Yuanshuo Zhang +11
The field of Embodied AI is witnessing a rapid evolution toward general-purpose robotic systems, fueled by high-fidelity simulation and large-scale data collection. However, this s…
EmboMatrix: A Scalable Training-Ground for Embodied Decision-Making
Zixing Lei, Sheng Yin, Yichen Xiong +8
Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of ge…
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…
It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots
Zuhong Liu, Junhao Ge, Minhao Xiong +4
The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that…