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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects
Tianjing Hao, Haiyu Lan, Angsong Li +6
Integrating open-vocabulary perception into object-level 3D scene graphs is a double-edged sword. While vision-language detectors recover long-tail categories and small, fine-grain…