Author

Yun-Bo Zhang

3 papers indexed here

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Preprint Oct 2026

HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion

Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these comp...

M. Zhang, Dong-Ho Kang, Kevin Bergamin et al. · 0 citations

Conference

Robot Manipulation via Action Decomposition and Composition

The ability to efficiently acquire generalized skills from demonstrations and apply them across diverse real-world scenarios is a central challenge in robot manipulation. Unlike conventional robot learning tasks that rely on extensive action demonstrations for single-task performance, zero-shot manipulation demands th...

Xiwen Dengxiong, Xue-Ting Wang, Yun-Bo Zhang · IISE Annual Conference &... · 0 citations

#robotics Preprint Sep 2026

XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acquire real-world skills. However, existing data collection solutions often lack the capability to obtain stable and high-frequency tactile feedback, limiting their effectiveness in contact-rich manipulation scen...

Xiwen Dengxiong, Xue-Ting Wang, Ke Jing et al. · 0 citations