Author

Yi Wu

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Preprint Sep 2026

Humanoid Badminton: Learning Dynamic Racket Skills from Limited Human Motion Data

High-speed racket sports provide a demanding testbed for humanoid robots, requiring time-critical decisions, precise striking, and dynamic whole-body coordination. In badminton, fast-changing shuttle trajectories require timely contact decisions, while successful returns demand precise racket pose and velocity within a...

Jing-Zhi Cui, Zhe-Xiong Wang, Bang-Jie Xu et al. · 0 citations

Preprint Jul 2026

Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models

Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is necessary for forming action-compatible...

Yufeng Ji, Wenhao Tang, Haoyi Niu et al. · 0 citations