Author

Cheng-Qun Yang

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Preprint Sep 2026

SocialHumanoid: Towards Expressive Humanoid Behavior via One-Step Co-Speech Motion Generation

Humanoid robots are increasingly expected to serve as embodied social agents that communicate naturally with humans through face-to-face interaction. During such communication, humanoid robots require body behaviors that are synchronized with speech, affectively expressive, and suitable for real-time execution. However...

Cheng-Qun Yang, Teng-Jie Zhu, Liang Xu et al. · 0 citations

2026

Enfold: Folding World-Generator Computation into Predictive Representations for Efficient Embodied Control

Enfold is presented, which transfers this computation into a representation predicted from the current visual context and language instruction, and recast a world generator as a source of predictive control representations: its future need not be materialized at every step if its internal structure can be enfolded into...

Wei-Li Zeng, Yi-Tong Xing, Fu-Long Liu et al. · arXiv.org · 0 citations

Preprint Aug 2026

Inter-X++: A Comprehensive Benchmark for Multimodal Human-Human Interaction Analysis

This work presents Inter-X++, a comprehensive and large-scale benchmark designed to empower versatile HHI analysis, and proposes OpenHHI, a single and unified HHI representation and modeling framework that jointly optimizes interaction reconstruction and semantic understanding.

Liang Xu, Cheng-Qun Yang, Zili Lin et al. · 0 citations

Preprint Jul 2026

Enfold: Folding World Model Imagination into Predictive Representations for Ultra-Efficient Embodied Control

This work presents Enfold, which transfers this computation that constructs a future into a representation predicted from the current visual context and language instruction, and recast a world generator as a source of predictive control representations if its internal structure can be enfolded into the present.

Wei-Li Zeng, Yi-Tong Xing, Fu-Long Liu et al. · 1 citation

Preprint Aug 2026

Spatiotemporally Decoupled Autoregressive Diffusion Model for Human Motion Generation

A unified spatiotemporally decoupled framework named DeMoDiff is proposed, which jointly redesigns representation and architecture and incorporates spatial-temporal masking and attention mechanisms into an autoregressive diffusion generator, achieving both generative capability and controllable editability.

Cheng-Qun Yang, Liang Xu, Yan-Ping Li et al. · 0 citations

Preprint Aug 2026

MRBench: A Comprehensive Benchmark for Human Motion-Text Retrieval

This work proposes a lightweight granularity-aware model anchored at a frozen standard-caption-aligned retrieval model that improves mixed-granularity retrieval without compromising standard-caption performance, and believes that its MRBench provides a comprehensive testbed for advancing motion-language alignment evalu...

Fulong Liu, Liang Xu, Chengqun Yang et al. · 0 citations