9 papers
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang +5
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objec…
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
OmniUMI: Towards Physically Grounded Robot Learning via Human-Aligned Multimodal Interaction
Shaqi Luo, Yuanyuan Li, Youhao Hu +7
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limit…
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Hongwu Wang, Chenhao Yu, Youhao Hu +3
High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulati…
Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments
Gangyang Li, Hongzhe Shi, Qing Shi +5
Maintaining whole-body stability and motion tracking under large interaction forces remains challenging for humanoids. We present Thor, a reinforcement learning framework for force…
A Unified Interaction Control Framework for Safe Robotic Ultrasound Scanning with Human-Intention-Aware Compliance
Xiangjie Yan, Shaqi Luo, Yongpeng Jiang +6
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specifi…
UltraSeP: Sequence-aware Pre-training for Echocardiography Probe Movement Guidance
Haojun Jiang, Teng Wang, Zhenguo Sun +8
Echocardiography is an essential medical technique for diagnosing cardiovascular diseases, but its high operational complexity has led to a shortage of trained professionals. To ad…
Structure-aware World Model for Probe Guidance via Large-scale Self-supervised Pre-train
Haojun Jiang, Meng Li, Zhenguo Sun +5
The complex structure of the heart leads to significant challenges in echocardiography, especially in acquisition cardiac ultrasound images. Successful echocardiography requires a…
Cardiac Copilot: Automatic Probe Guidance for Echocardiography with World Model
Haojun Jiang, Zhenguo Sun, Ning Jia +5
Echocardiography is the only technique capable of real-time imaging of the heart and is vital for diagnosing the majority of cardiac diseases. However, there is a severe shortage o…