4 papers
Progressively Learning Heterogeneous Skills in a Unified Latent Space
Yue-Yi Zhang, Ming Gong, Linpu He +2
We propose HetSkills, a novel framework designed to progressively learn heterogeneous skills within a unified latent space for physics-based character control. The core idea is to…
DCAC: Dynamic Class-Aware Cache Creates Stronger Out-of-Distribution Detectors
Yanqi Wu, Qichao Chen, Runhe Lai +5
Out-of-distribution (OOD) detection remains a fundamental challenge for deep neural networks, particularly due to overconfident predictions on unseen OOD samples during testing. We…
Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations
Wei-Jin Huang, Yue-Yi Zhang, Yi-Lin Wei +5
Enabling humanoid robots to physically interact with humans is a critical frontier, but progress is hindered by the scarcity of high-quality Human-Humanoid Interaction (HHoI) data.…
Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalization
Jiaming Zhou, Ke Ye, Jiayi Liu +6
The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However…