4 papers
From Hitter to Player: Separating Motor Execution and Strategy in Competitive Humanoid Table Tennis
Fanrong Dong, Ziyi Sun, Ziqi Han +6
Competitive humanoid table tennis requires two distinct abilities: executing a desired return and deciding where to return the ball. We separate these two problems, with the ball l…
I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning
Ziqi Han, Yitang Li, Junhan Sun +8
Behavioral foundation models (BFMs) have recently shown that a single humanoid policy can support diverse whole-body control, but extending such generality to physical interaction…
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Lei Ye, Haibo Gao, Yitang Li +10
Diffusion models provide a flexible framework for motion generation, but turning this flexibility into closed-loop humanoid control remains challenging. Hierarchical generator-trac…
Towards Effective and Efficient Non-autoregressive Decoding Using Block-based Attention Mask
Tianzi Wang, Xurong Xie, Zhaoqing Li +9
This paper proposes a novel non-autoregressive (NAR) block-based Attention Mask Decoder (AMD) that flexibly balances performance-efficiency trade-offs for Conformer ASR systems. AM…