3 papers
cs.RO2026
General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
Zepeng Wang, Jiangxing Wang, Shiqing Yao +8
Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for r…
cs.LG2025
AdaptGrad: Adaptive Sampling to Reduce Noise
Linjiang Zhou, Chao Ma, Zepeng Wang +2
Gradient Smoothing is an efficient approach to reducing noise in gradient-based model explanation method. SmoothGrad adds Gaussian noise to mitigate much of these noise. However, t…
cs.RO2025
RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
Junpeng Yue, Zepeng Wang, Yuxuan Wang +7
This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective lea…