5 papers
KPI: A Promptable Kernel for Physical Interaction on Humanoids
Yikai Wang, Honghao Zhu, Xiao Hu +5
Humanoids now walk, balance and reach with remarkable generality: one whole-body tracking policy follows references from a human, or from an end-to-end policy. That generality trav…
Kinematic Interface for the Wild: Modular Bimanual Loco-Manipulation Capture from 360 Cameras Alone
Benjamin Yang, Weiying Wang, Shenggao Li +5
A wrist-mounted camera for UMI-style data collection must do two jobs: record the manipulation and localize in the scene. Most handheld devices localize online from workspace-facin…
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
Sichang Su, Benjamin Yang, Zhiyun Deng +4
A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supe…
RefGuard: Identity-Aware Language-Guided Robot Manipulation via Joint Target-Anchor-Frame Grounding
Lan Wei, Kangyi Lu, Yongchen Wang +5
Vision-language-action (VLA) models have substantially advanced language-guided robot manipulation, yet reliable execution still hinges on identifying which physical object an inst…
Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations
Shiyuan Yang, Zelin Wang, Zhijia Tao +8
Classical leader-follower formation control suffers from single points of failure and error propagation, and relies on absolute localization sensors that are ill-suited for GPS-den…