5 papers
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: Unified Spatial-Semantic Prompts for Embodied Visual Tracking with Latent Dynamics Learning
Yuchen Xie, Xinyu Zhou, Kuangji Zuo +4
Embodied Visual Tracking (EVT) requires an agent to continuously follow a specified target while actively moving through dynamic environments. However, prevailing EVT paradigms pre…
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 frozen LLM remains challenging. Exis…