8 papers
PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots
Xu Han, Angsong Li, Shaopeng Zhang +5
Simulation-trained humanoid proprioceptive odometry faces two transfer challenges: training trajectories generated by specific robot control policies intended for deployment cover…
OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots
Kaixiang Lu, Haiyu Lan, Chunxiao Qiao +6
Assembly, wear, and component replacement perturb the sensor extrinsics and joint zeros encoded by a humanoid CAD model. Existing procedures calibrate one sensor pair or require ex…
Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models
Shengye Dong, Haochen Niu, Hao Liu +3
Modern vision-language-action (VLA) policies predict a whole chunk of actions: one to two seconds of coordinated motion emitted in a single forward pass. Yet an action chunk is ess…
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
Kaixiang Lu, Haiyu Lan, Chunxiao Qiao +5
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems o…
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry
Kaixin Feng, Angsong Li, Shaopeng Zhang +5
Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimat…
TemporalFlow-VLA: Learning Physically Grounded Execution History for Long-Horizon Robot Manipulation
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-language-action (VLA) models leverage pretrained vision-language representations for robot control, yet simply adding historical frames does not reliably capture recent phys…
V-Link: Recovering Lost Visual Representations in Action DiT for Vision-Language-Action Models
Yehao Lu, Jiarui Yang, Yuning Su +10
Vision-language-action (VLA) models provide a scalable path toward generalist robotic manipulation by integrating visual perception, language understanding, and continuous action c…
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation, yet complex contact-rich tasks often benefit from multi-camera observations that joint…