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Author

Xiang-Cheng Liu

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Preprint Oct 2026

InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation

Captured human-object interactions provide rich supervision for humanoid loco-manipulation, but they are sparse, heterogeneous, and not directly executable by robots. We introduce InterMimicGen, a self-evolving motion-imitation framework in which robot motion data and a tracking policy improve each other. First, we con...

Yu-Chen Zhang, Sirui Xu, Jin-Hong Li et al. · 0 citations
Preprint Sep 2026

STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation

Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning these capabilities remains challenging due to the lack of large-scale real-world data and the difficulty of extracting effective representations from sparse tactile signals. We build a robot platform and teleop...

Xiang-Cheng Liu, Tian-Hao Wu, Le Zheng et al. · 1 citation
Preprint Sep 2026

STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation

Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning these capabilities remains challenging due to the lack of large-scale real-world data and the difficulty of extracting effective representations from sparse tactile signals. We build a robot platform and teleop...

Xiang-Cheng Liu, Tian-Hao Wu, Le Zheng et al. · 0 citations

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