3 papers
cs.RO2026
HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction
Jiahao Ji, Ji Ma, Runhan Zhang +12
Humanoid intelligence requires learning over an extremely diverse space of whole-body motions and physically grounded interactions. However, existing embodied datasets remain funda…
cs.RO2026
PFM-HR: Pose Flow Matching for Humanoid Robots
Yukang Gao, Yi Gu, Yangchen Zhou +9
Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for p…
cs.RO2026
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
Runyi Yu, Xiaoyi Lin, Ji Ma +11
Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust execution of meta-skills but also their seamless, closed-loop chaining equi…