7 papers
A Change of Frame Makes Balance Observable: Distillation-Free Humanoid Single-Leg Stance
Yikai Zhou, Xingyun Wang, Jieming Cui +4
Unified humanoid policies handle agile whole-body motion, yet stumble on a simple demand: staying balanced on one leg. On our single-leg-balance benchmark, eight released state-of-…
Multi-Level Narrative Evaluation Outperforms Lexical Features for Mental Health
Yuxi Ma, Jieming Cui, Muyang Li +6
How people narrate their experiences offers a window into how the mind organizes them. Computational approaches to therapeutic writing have evolved from lexical counting to neural…
OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
Yixuan Li, Le Ma, Yutang Lin +8
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstratio…
LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations
Yutang Lin, Jieming Cui, Yixuan Li +3
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on referenc…
UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
Nan Jiang, Zimo He, Wanhe Yu +8
A long-standing objective in humanoid robotics is the realization of versatile agents capable of following diverse multimodal instructions with human-level flexibility. Despite adv…
GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill
Jieming Cui, Tengyu Liu, Ziyu Meng +5
Learning open-vocabulary physical skills for simulated agents presents a significant challenge in artificial intelligence. Current reinforcement learning approaches face critical l…