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cs.RO2026
PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning
Zepeng Wang, Jiangxing Wang, Chao Ma +2
Humanoid motion tracking policies rely on dense frame-by-frame references, limiting their use as high-level motion controllers for planning and interactive motion generation. We st…
cs.RO2026
General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
Zepeng Wang, Jiangxing Wang, Shiqing Yao +8
Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for r…