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Author

Yuan Zhuang

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Preprint Sep 2026

PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

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
Preprint Jul 2026

Artificial Foveated Perception for Mitigating Shortcut Learning in Robotic Foundation Models

Artificial Foveated Perception is proposed, a lightweight, policy-agnostic module that takes the same vision and language inputs as Vision-Language-Action and World Action Model pipelines and predicts task-conditioned masks over relevant objects, the robot, and other action-critical regions and reduces fine-tuning time...

Xia-Tao Sun, Yuan Zhuang, Mateo Sanchez Lopez Negrete et al. · 0 citations

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