Author

Si-Yi Qian

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Preprint Oct 2026

Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives

Humanoid whole-body teleoperation translates human motion into stable robot behavior in real time. Existing systems typically rely on online motion retargeting to bridge human--robot morphological differences, but this process adds latency and can produce physically infeasible targets. Meanwhile, diverse, noisy, and pa...

Xia-Yan Xu, Ji-Yu Yu, Xing-Zhou Chen et al. · 0 citations

#artificial intelligence Preprint Oct 2025

CapGeo-Bench: Decoupling Visual Perception from Reasoning and Evaluating Geometric Understanding

CapGeo-Bench is proposed, a benchmark of 4,641 high-quality figure-caption pairs equipped with a fine-grained keypoint-based evaluation metric that provides high-quality captions consistently and substantially boosts performance of MLLMs, empirically validating the visual perception bottleneck in geometric reasoning.

Yu-Ying Li, Si-Yi Qian, Hao Liang et al. · 5 citations