7 papers
Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots
Tianchen Huang, Mingkuan Zhao, Yang Gao +8
Expressive whole-body motion is important for humanoid robots operating in human environments, where robots are expected to move stably while presenting readable and adjustable bod…
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
Tianchen Huang, Feiyang Yuan, Junchi Gu +5
Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial mo…
Hallucinations as Orthogonal Noise: Inference-Time Manifold Alignment via Dynamic Contextual Orthogonalization
Mingkuan Zhao, Wentao Hu, Tianchen Huang +6
Hallucination in Large Language Models (LLMs), characterized by the generation of content inconsistent with contextual facts or logical constraints -- remains a persistent challeng…
Resonant Context Anchoring: Decoupling Attention Routing and Signal Gain at Inference Time
Mingkuan Zhao, Yide Gao, Wentao Hu +6
Large Language Models (LLMs) frequently exhibit "contextual disregard" when faced with input evidence that conflicts with their internal parametric memory, leading to persistent fa…
ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal
Shuo Shao, Tianchen Huang, Wei Gao +1
Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing…
SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles
Junchi Gu, Feiyang Yuan, Weize Shi +6
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably gener…