5 papers
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
Yuan Jiang, Ningyuan Zhang, Xicun Yang +2
Large-scale humanoid motion-tracking controllers are commonly improved by reallocating training effort: difficult motions are sampled more often, isolated into smaller subsets, or…
HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction
Wang Warren Chen, Jiahao Zhang, Zhenjiang Li +6
We propose HODAgent, a System-2 embodied agent for humanoid robots in service settings, addressing situated intent, responsive execution, task revision, and outcome verification. I…
DeepInsight II: One Trace from Benchmark to Robot
Siyi Li, Yuchen Kang, Wuliang Wang +4
Across a Physical AI stack, evaluation maturity is inversely aligned with deployment risk: foundation models enjoy mature, standardized harnesses, while the embodied layers on whic…
R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim
Shuai Fang, Xin Deng, Yuchen Kang +2
Real-to-sim (R2S) depends on scene representations that render observations along robot ego trajectories, yet dense multi-view capture limits per-environment real-image capture-cou…
DeepInsight: A Unified Evaluation Infrastructure Across the Physical AI Stack
Siyi Li, Chunyu Sun, Jiahao Zhang +6
Evaluating a Physical AI stack spans operators that differ by more than three orders of magnitude -- from a single foundation-model decoding step to thousands of physics ticks of w…