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cs.RO2026
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Yen-Jen Wang, Jiaman Li, Sirui Chen +9
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egoc…
cs.RO2026
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
Sirui Chen, Shibo Zhao, Zhen Wu +3
Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich tasks, as pure kinematic tracking cannot resolve the physical ambiguitie…
cs.RO2026
Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data
Ji Woong Kim, Ke Wang, Zipeng Fu +4
Robotics faces a fundamental challenge of data scarcity. Unlike language or vision research, there is no internet-scale dataset for robotic manipulation. A promising path forward i…