27 papers
Kimi K3: Open Frontier Intelligence
Kimi Team, Tongtong Bai, Yifan Bai +398
We introduce Kimi K3, a 2.8T parameter Mixture-of-Experts model with 104 billion activated parameters, native vision capabilities, and a 1-million-token context window. Kimi K3 is…
Q-GeoMem: Question-Guided Geometric Memory for Video Spatial Reasoning
Xianqiang Gao, Qizhi Chen, Delin Qu +5
Video spatial reasoning requires accumulating viewpoint-dependent evidence over time while retaining information useful to the question being asked. Existing spatial video-language…
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Yucheng Xin, Jiacheng Bao, Yubo Dong +5
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challengin…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
Yucheng Xin, Jiacheng Bao, Haoran Yang +6
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research…
PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
Jiacheng Bao, Haoran Yang, Yucheng Xin +7
Humanoid robots are expected to execute agile and expressive whole-body motions in real-world settings. Existing text-to-motion generation models are predominantly trained on captu…
ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data
Haoran Yang, Jiacheng Bao, Yucheng Xin +5
Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high cost of whole-body teleoperation data. We present ZeroWBC, a teleoperati…