5 papers
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…
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Xukun Li, Yu Sun, Lei Zhang +10
Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we…
Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation
Yuan Meng, Zhenguo Sun, Max Fest +4
Large language models (LLMs) can translate natural-language instructions for robotic manipulation into executable code, but ambiguity, noisy generations, and limited context window…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
Zhenguo Sun, Yibo Peng, Yuan Meng +5
Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are typically kinematically plausible but dynamically inconsistent with the ro…
Robotic Long-Horizon Manipulation with Progressive In-Context Code Generation and Episodic Feedback
Yuan Meng, Xiangtong Yao, Haihui Ye +6
Robotic long-horizon manipulation requires robots to compose perception, reasoning, and action over extended task sequences, yet existing language-conditioned frameworks often rely…