Research
Research
Research
Research
121+ open-access research outputs.
Precision-critical manipulation requires both global trajectory organization and local execution correction, yet most vision-language-action (VLA) policies generate actions within a single unified spa…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generatio…
Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly s…
Vision-language-action (VLA) models have shown great potential in building generalist robots, but still face a dilemma-misalignment of 2D image forecasting and 3D action prediction. Besides, such a vi…
Vision--Language--Action (VLA) models that encode actions using a discrete tokenization scheme are increasingly adopted for robotic manipulation, but existing decoding paradigms remain fundamentally l…
Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often…
Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressive behaviors, and ric…
Humanoid robots require diverse motor skills to integrate into complex environments, but bridging the kinematic and dynamic embodiment gap from human data remains a major bottleneck. We demonstrate th…
Recent advances in Visual-Language-Action (VLA) models have shown promising potential for robotic manipulation tasks. However, real-world robotic tasks often involve long-horizon, multi-step problem-s…
Pretrained Vision-Language-Action (VLA) policies have achieved strong single-step manipulation, but their inference remains largely memoryless, which is brittle in non-Markovian long-horizon settings …
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free…
Hierarchical policies for language-conditioned manipulation decompose tasks into subgoals, where a high-level planner guides a low-level controller. However, these hierarchical agents often fail becau…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly…
Despite the rapid progress of Vision-Language-Action (VLA) models, the prevailing paradigm of predicting discrete waypoints remains fundamentally misaligned with the intrinsic continuity of physical m…
Vision-language-action (VLA) models integrate visual observations and language instructions to predict robot actions, demonstrating promising generalization in manipulation tasks. However, most existi…
Vision-Language-Action (VLA) models have shown remarkable success in robotic tasks like manipulation by fusing a language model's reasoning with a vision model's 3D understanding. However, their high …
Hierarchical Vision-Language-Action (VLA) models have rapidly become a dominant paradigm for robotic manipulation. It typically comprising a Vision-Language backbone for perception and understanding, …
Recent advances in humanoid whole-body motion tracking have enabled the execution of diverse and highly coordinated motions on real hardware. However, existing controllers are commonly driven either b…
Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, which prevents robot state from shaping instruction understanding and from influencing which vis…
Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing mo…
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