4 papers
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
Boyi Liu, Qijin Li, Tianqi Yu +2
FastSAC-style methods significantly reduce humanoid motion training time but often suffer from notable performance degradation compared with PPO in whole-body tracking tasks. We ta…
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
Zuxing Lu, Ziang Zheng, Yao Lyu +7
Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomot…
VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
Xiaolei Lang, Yang Wang, Yukun Zhou +10
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling th…
EgoFlow: Gradient-Guided Flow Matching for Egocentric 6DoF Object Motion Generation
Abhishek Saroha, Huajian Zeng, Xingxing Zuo +2
Understanding and predicting object motion from egocentric video is fundamental to embodied perception and interaction. However, generating physically consistent 6DoF trajectories…