10 papers
EgoWholeView: Camera-Only Head-Mounted Capture of Body and Bimanual Hand Motion for Embodied Demonstrations
Yaoqing Hu, Xuguo He, Daohan Cui +2
Head-mounted body and bimanual motion capture supports self-avatars, teleoperation, and embodied demonstrations. However, a single egocentric camera is vulnerable to a limited fiel…
Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation
Peng Ren, Haoyang Ge, Jiang Zhao +4
Vision-language-action policies are a promising foundation for general robot control, but long-horizon humanoid loco-manipulation requires the robot to treat task objects as persis…
Future Rendering Future Surface: A Benchmark and Dataset for Dynamic Surface Reconstruction Beyond the Observed Window
Yukun Shi, Minglun Gong
Dynamic-scene reconstruction is almost always evaluated inside the observed time window, yet deployment settings such as AR overlays, robot interaction, and anticipatory planning n…
Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
Xiaopeng Lin, Ruoqi Yang, Shijie Lian +14
Vision-language-action (VLA) models across robot embodiments require high-quality observation--action supervision to learn deployable action distributions, yet scaling such robot d…
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control
Haoyang Ge, Peng Ren, Yukun Shi +3
Humanoid robots require whole-body motions that adapt to scene context, task requirements, and user intent. Motion tracking reproduces specified trajectories, and humanoid vision-l…
PhysBrain 1.0 Technical Report
Shijie Lian, Bin Yu, Xiaopeng Lin +10
Vision-language-action models have advanced rapidly, but robot trajectories alone provide limited coverage for learning broad physical understanding. PhysBrain 1.0 studies a comple…
STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
Yuxuan Tian, Yurun Jin, Bin Yu +5
Robotic manipulation requires reasoning about future spatial-temporal interactions and geometric constraints, yet existing Vision-Language-Action (VLA) policies often leave predict…
PhysBrain: Human Egocentric Data as a Bridge from Vision Language Models to Physical Intelligence
Xiaopeng Lin, Shijie Lian, Bin Yu +10
Robotic generalization relies on physical intelligence: the ability to reason about state changes, contact-rich interactions, and long-horizon planning under egocentric perception…
SealD-NeRF: Interactive Pixel-Level Editing for Dynamic Scenes by Neural Radiance Fields
Zhentao Huang, Yukun Shi, Neil Bruce +1
The widespread adoption of implicit neural representations, especially Neural Radiance Fields (NeRF), highlights a growing need for editing capabilities in implicit 3D models, esse…
Visibility-Aware Pixelwise View Selection for Multi-View Stereo Matching
Zhentao Huang, Yukun Shi, Minglun Gong
The performance of PatchMatch-based multi-view stereo algorithms depends heavily on the source views selected for computing matching costs. Instead of modeling the visibility of di…