Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimators generally rely on binary contact decisions to determine whether the FK measurements of an entire foot should be trusted. However, contac...
Kaixin Feng, Ang Li, Shaoxiong Zhang et al.· 0 citations
Long-horizon compositional manipulation has become increasingly important for real-world robot deployment, where a single task involves multiple coordinated subtasks. Existing world-action models (WAMs) jointly predict short-horizon visual futures and actions, but typically lack explicit subtask-level reasoning. We pro...
Shu-Kai Gong, Xuan-Ran Zhai, Yintianrun Zhang et al.· 0 citations
Assembly, wear, and component replacement perturb the sensor extrinsics and joint zeros encoded by a humanoid CAD model. Existing procedures calibrate one sensor pair or require external fiducials. Using only robot-native motion and onboard sensing, we present OmniCalib, a target-free workflow that calibrates the full...
Kai-Xiang Lu, Hai-Yu Lan, Chun-Xia Qiao et al.· 0 citations
Robot actions are temporally correlated trajectories whose frequency components encode motion at different scales with highly non-uniform energy distributions. Yet Flow Matching--based vision-language-action (VLA) models typically generate actions in temporal coordinates, without explicitly modeling or systematically l...
Hao-Chen Niu, Shen-Ye Dong, Hao Liu et al.· 0 citations
Multi-View Unified Camera Fields (MVUCF), a training-only framework that forms a shared action-facing latent field across views, and real-world humanoid experiments further provide evidence of its practical effectiveness under RGB-only deployment.
Jia-Rui Yang, Ye-Hao Lu, Yu-Ning Su et al.· 1 citation
Harness evolution enables frozen language model agents to adapt to unfamiliar tasks by modifying the external programs that govern their behavior. For long-horizon tasks, each rollout is costly, and a limited interaction budget may yield few examples of effective behavior. Sparse, delayed feedback also makes it difficu...
Li-Rong Che, Yu-Zhe Yang, Pei Lin et al.· 5 citations· ⚡1
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems or fiducial targets. We present a self-contained calibration framework exploiting only onboard joint encoders and a pelvis-mounted IMU during...
Kai-Xiang Lu, Hai-Yu Lan, Chun-Xia Qiao et al.· 0 citations
Prior-Informed Odometry from Human-Motion Tracking (PRIMO) generates odometry supervision by having the humanoid track diverse retargeted human motions in simulation, decoupling supervision from the deployment policies and broadening the training motion distribution, and consistently lowers mean trajectory errors relat...
Xuan-Wen Han, Ang Li, Shaoxiong Zhang et al.· 0 citations
Time-Frequency Geometric Cross-Attention (TFGCA), a drop-in module repairing both blind spots in vision-language-action policies, uses a per-dimension learnable stationary wavelet transform to decompose the action chunk into time-frequency tokens, and each time token retrieves information from them via a cross-attentio...
Sheng-Ye Dong, Hao-Chen Niu, Hao Liu et al.· 0 citations
CoBench is introduced, a construct-level benchmark for evaluating multi-agent embodied coordination in executable household tasks and shows that coordination ability is highly construct-specific: strong overall performance does not imply balanced competence across different coordination types.
Yang Chen, Ye-Xin Xie, Li-Rong Che et al.· 0 citations
V-Link is proposed, which explicitly recovers visual representations during the vision-language (VL) to action (A) feature transfer and injects them into Action DiT through asymmetric pathways.
Ye-Hao Lu, Jia-Rui Yang, Yu-Ning Su et al.· 0 citations
TemporalFlow-VLA provides a compact, physically grounded interface for exploiting ordered execution history without explicit motion estimation or geometric processing at deployment, and shows its clearest advantage over prior methods on longer-horizon, multi-stage manipulation.
Jia-Rui Yang, Ye-Hao Lu, Yu-Ning Su et al.· 2 citations
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