1 citations · 1 across the 4 of their papers we have counts for
6 papers
KPI: A Promptable Kernel for Physical Interaction on Humanoids
Yikai Wang, Honghao Zhu, Xiao Hu +5
Humanoids now walk, balance and reach with remarkable generality: one whole-body tracking policy follows references from a human, or from an end-to-end policy. That generality trav…
Kinematic Interface for the Wild: Modular Bimanual Loco-Manipulation Capture from 360 Cameras Alone
Benjamin Yang, Weiying Wang, Shenggao Li +5
A wrist-mounted camera for UMI-style data collection must do two jobs: record the manipulation and localize in the scene. Most handheld devices localize online from workspace-facin…
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
Sichang Su, Benjamin Yang, Zhiyun Deng +4
A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supe…
NovaPlan: Zero-Shot Long-Horizon Manipulation via Closed-Loop Video Language Planning
Jiahui Fu, Junyu Nan, Lingfeng Sun +7
Solving complex long-horizon robotic tasks requires joint reasoning over abstract task structure and low-level physical interaction. While combining Vision-Language Models (VLMs) a…
SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
Kuan Fang, Yuxin Chen, Xinghao Zhu +3
We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently…
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun +4
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulati…