5 papers · 1 filter
HumanoidNDM: Closing the Training-Deployment Gap of Motion Tracking via Humanoid Neural Dynamics Model
Chao Chen, Zhenrong Wang, Jilong Wang +4
Humanoid robots have recently achieved remarkable success in motion tracking. However, during real-world deployment, robots inevitably encounter dynamics gaps arising from either e…
WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time
Yusen Feng, Bingchen Han, Jiangran Lyu +13
Steering robot foundation models (RFMs) toward new task variants or user-preferred behaviors remains challenging, often requiring additional robot demonstrations, task-specific fin…
MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots
Yusen Feng, Xiang Wang, Heyuan Yao +7
This paper presents MuGen, a data-driven framework for learning and deploying multi-skill locomotion on humanoid robots. MuGen enables a robot to perform expressive motions like hu…
ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction
Zeyi Zhang, Zixi Kang, Ruijie Zhao +4
Real-time embodied social interaction places two equally demanding requirements on an agent: continuously generating fluent multimodal interaction behavior, and proactively reasoni…
LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion
Jiangran Lyu, Kai Liu, Xuheng Zhang +20
Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous em…