Session G Abstracts Effects of kinematic reference quality on dynamics-aware humanoid motion retargeting
Y. Lim, Aaron D. Ames, Junheng Li et al.
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HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
Humanoid loco-manipulation of large, heavy objects demands forceful interaction across the entire body. However, such payloads shift a humanoid's center of mass and impose sustained loads across the upper body, challenging balance and command tracking. We present HULK, a whole-body control framework for forceful loco-m...
An Dang, Arturo Flores Alvarez, Yu-Ming Chen et al.
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The Layer Mystery of VLA: An Information-Theoretical Analysis of VLA Latent Interface
A reweighting equivalence is derived between the proposed information-bottleneck objectives for action-conditioned InfoNCE and action prediction, motivating InfoNCE as a proxy for layer quality and providing the most consistent positive association with policy success among four evaluated proxies.
Yu-Xia Liu, Li-Zhi Yang, Feng-Ze Xie et al.
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