Author

Tinghong Ye

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Preprint Oct 2026

Movens-Zero: Scaling Humanoid Motion Foundation Models with Large-Scale Human Videos

Scaling humanoid motion foundation models is constrained by the scarcity of diverse, robot-executable data and by the difficulty of jointly learning from heterogeneous multimodal inputs while supporting real-time closed-loop control. We present Movens-5M, constructed from raw Internet videos through clip generation, qu...

Wen-Dong Bu, Ting-Hong Ye, Qi-Zhou Wang et al. · 0 citations

Preprint Aug 2026

MemOPD: On-Policy Distillation through Memory State Alignment for Long-Horizon Agents

MemOPD records the inputs and sampled outputs of each model invocation, restores its original token positions and causal visibility, and packs the reconstructed invocations for efficient teacher scoring, which improves F1 over PPO by up to 4162%, while packing yields up to a 1.63x speedup in actor computation during tr...

Zhiyuan Liu, Tinghong Ye, Chenghao Liu et al. · 0 citations