Author

Yue-Cheng Xu

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#artificial intelligence Mar 2026

PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking

PhyGile performs physics-prefix-guided robot-native motion generation at inference time, directly generating robot-native motions in a 262-dimensional skeletal space with physics-guided prefixes, thereby eliminating inference-time retargeting artifacts and reducing generation-execution discrepancies.

Jiacheng Bao, Hao Yang, Yucheng Xin et al. · arXiv.org · 2 citations

Preprint Jul 2026

EDAR: Learning Environment-Dependent Action Representations for Robotic Manipulation

Experiments on simulated and real-robot manipulation benchmarks demonstrate that EDAR improves downstream policy learning, especially in long-horizon manipulation, highlighting the importance of grounding action representations in executable control structure and environment-conditioned visual change.

Yuecheng Xu, Tong Yang, Jingkai Jia et al. · 0 citations