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cs.RO2026
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Xialin He, Sirui Xu, Xinyao Li +4
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrai…
cs.RO2025
Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration
Sirui Xu, Yu-Wei Chao, Liuyu Bian +4
Hand-object motion-capture (MoCap) repositories offer large-scale, contact-rich demonstrations and hold promise for scaling dexterous robotic manipulation. Yet demonstration inaccu…