6 papers
mmHRI: Towards Privacy-Preserving Human-Robot Interaction with Millimeter-Wave Radar
Junqiao Fan, Yuxuan Hu, Bofan Lyu +7
Assistive robots increasingly operate in many human-centered environments and perform various human-robot interaction (HRI) tasks, such as object delivery. However, most existing H…
Unified Condition-Action Modeling for Accurate One-Step Action Generation
Xinyu Zhou, Zikun Cai, Kuangji Zuo +7
Robot manipulation requires policies that are both accurate and efficient, as robot control must respond to changing observations under tight latency constraints. Recent diffusion…
USS: Unifying Spatial-Semantic Prompting for End to End Embodied Visual Tracking
Yuchen Xie, Xinyu Zhou, Kuangji Zuo +4
Embodied Visual Tracking (EVT) requires an agent to continuously follow a designated target while moving through dynamic environments. Existing embodied tracking methods generally…
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
Bofan Lyu, Jindou Jia, Kuangji Zuo +7
Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts introduce unexpected disturbances that disrupt locomotion accuracy an…
EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots
Yanshuo Lu, Yuxuan Hu, Shenghai Yuan +5
Falls are one of the leading causes of injury and hospitalization among elderly individuals, making reliable fall awareness an essential capability for safety monitoring in residen…
Is Text All You Need? Text as a Universal Information Bottleneck for Speech LLMs
Ming-Hao Hsu, Yuxuan Hu, Shujie Liu +3
Large language models (LLMs) provide a powerful reasoning backbone for speech understanding, but integrating continuous acoustic signals into a pretrained LLM remains challenging.…