3 papers
cs.RO2026
Motion Retargeting with Spatiotemporal Preferences for Humanoid Loco-Manipulation
Xiongbo Shi, Shihang Du, Zongyou Yu +6
Human motion retargeting bridges the embodiment gap between humans and humanoid robots by converting human demonstrations into reference trajectories for whole-body control and loc…
cs.LG2026
Beyond Penalization: Diffusion-based Out-of-Distribution Detection and Selective Regularization in Offline Reinforcement Learning
Qingjun Wang, Hongtu Zhou, Hang Yu +5
Offline reinforcement learning (RL) faces a critical challenge of overestimating the value of out-of-distribution (OOD) actions. Existing methods mitigate this issue by penalizing…
cs.RO2026
Learning Geometrically-Grounded Amodal 3D Representations for View-Generalizable Robotic Manipulation
Di Zhang, Weicheng Duan, Dasen Gu +6
Real-world robotic manipulation requires visuomotor policies capable of robust 3D scene reasoning under varying camera viewpoints. While recent 3D-aware manipulation policies have…