5 papers
ExoActor: Exocentric Video Generation as Generalizable Interactive Humanoid Control
Yanghao Zhou, Jingyu Ma, Yibo Peng +3
Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-releva…
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
Zhenguo Sun, Bo-Sheng Huang, Yibo Peng +9
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperati…
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
Zhe Li, Cheng Chi, Yangyang Wei +9
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion fro…
Growing with Your Embodied Agent: A Human-in-the-Loop Lifelong Code Generation Framework for Long-Horizon Manipulation Skills
Yuan Meng, Zhenguo Sun, Max Fest +3
Large language models (LLMs)-based code generation for robotic manipulation has recently shown promise by directly translating human instructions into executable code, but existing…
Embodied Long Horizon Manipulation with Closed-loop Code Generation and Incremental Few-shot Adaptation
Yuan Meng, Xiangtong Yao, Haihui Ye +6
Embodied long-horizon manipulation requires robotic systems to process multimodal inputs-such as vision and natural language-and translate them into executable actions. However, ex…