Author

Chen-Jia Bai

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Preprint Sep 2026

NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation

Whole-body teleoperation requires a humanoid robot to reproduce a human operator's behavior even when their terrains differ. This demands that the robot perceive local terrain and adapt its posture and contacts accordingly, rather than copy the operator's motion frame by frame. However, paired motion data linking the s...

Xiang-Yu Miao, Jun-Song Wu, Ji-Yuan Shi et al. · 0 citations

#artificial intelligence Preprint Sep 2026

ReWeight: Leveraging Human Data for VLA Post-Training via Demonstration Retrieval and Sample Weighting

Post-training vision-language-action (VLA) models for specific robots and tasks requires in-domain demonstrations, yet collecting diverse robot data is costly. Egocentric human demonstrations provide a scalable alternative, but directly mixing human and robot data can introduce cross-embodiment discrepancies and degrad...

Chen-Wei Wang, Dian-Ye Huang, Match W. L. Ko et al. · 0 citations