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cs.RO2026
A Change of Frame Makes the Capture Point Proprioceptive: Distillation-Free Humanoid Single-Leg Balance
Yikai Zhou, Xingyun Wang, Jieming Cui +4
Unified humanoid policies track agile whole-body motion, yet few can hold a clean single-leg stance. On the single-leg balance benchmark introduced here, eight released state-of-th…
cs.RO2026
OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
Yixuan Li, Le Ma, Yutang Lin +8
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstratio…
cs.RO2026
LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations
Yutang Lin, Jieming Cui, Yixuan Li +3
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on referenc…