Author

Yue Wang

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Preprint Sep 2026

HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

Object transportation is a fundamental capability for humanoid robots operating in real-world, human-centric environments, yet existing methods struggle when clutter constrains free space around both the robot and its carried payload. We present HOTICE, a whole-body humanoid learning framework for transporting objects...

Toàn Nguyên, Wei-Duo Yuan, Siheng Zhao et al. · 0 citations

Preprint Oct 2026

eRLT: Efficient VLA Reinforcement Learning via Action-Relevant Token Routing

Vision-Language-Action (VLA) models provide strong behavioral priors for robotic manipulation, yet efficiently adapting them to downstream tasks remains challenging. Recent work addresses this challenge by adapting frozen VLAs through online reinforcement learning (RL), whose sample efficiency depends on the quality of...

De-Hao Huang, Jian-Bang Liu, Jian-Pan Gao et al. · 0 citations