Weishuai Zeng

Jiahe Chen, ZiRui Wang, Feiyu Jia et al.

Whole-body Humanoid-Object Interaction (HOI) is bottlenecked by the scarcity of high-fidelity 3D data. While video generative priors offer a promising alternative, existing methods suffer from \textit{Representation Misalignment} due to their reliance on geometric priors (e.g., explicit CAD models), and \textit{Retargeting Complexity} arising from intensive morphing and morphological mismatch. We propose Imagine2Real, a zero-shot HOI framework for flexible, geometry-free interaction. To resolve misalignment, we formulate robot and object motions as unified 4D point trajectories. To overcome retargeting complexity, our Keypoints Tracker tracks only sparse critical points (base, hands, and object), entirely bypassing the error-amplifying retargeting process. To maintain natural gaits despite these sparse signals, we utilize the latent space of a Behavior Foundation Model (BFM) as the tracker's search domain. Using a progressive training strategy, Imagine2Real learns robust behaviors with simple tracking rewards, enabling zero-shot physical deployment within a motion capture(mocap) system.

Zhirui Fang, Ming Yang, Weishuai Zeng et al.

We explore leveraging large multi-modal models (LMMs) and text2image models to build a more general embodied agent. LMMs excel in planning long-horizon tasks over symbolic abstractions but struggle with grounding in the physical world, often failing to accurately identify object positions in images. A bridge is needed to connect LMMs to the physical world. The paper proposes a novel approach, egocentric vision language planning (EgoPlan), to handle long-horizon tasks from an egocentric perspective in varying household scenarios. This model leverages a diffusion model to simulate the fundamental dynamics between states and actions, integrating techniques like style transfer and optical flow to enhance generalization across different environmental dynamics. The LMM serves as a planner, breaking down instructions into sub-goals and selecting actions based on their alignment with these sub-goals, thus enabling more generalized and effective decision-making. Experiments show that EgoPlan improves long-horizon task success rates from the egocentric view compared to baselines across household scenarios.

Yuxuan Wang, Ming Yang, Ziluo Ding et al.

Achieving general agile whole-body control on humanoid robots remains a major challenge due to diverse motion demands and data conflicts. While existing frameworks excel in training single motion-specific policies, they struggle to generalize across highly varied behaviors due to conflicting control requirements and mismatched data distributions. In this work, we propose BumbleBee (BB), an expert-generalist learning framework that combines motion clustering and sim-to-real adaptation to overcome these challenges. BB first leverages an autoencoder-based clustering method to group behaviorally similar motions using motion features and motion descriptions. Expert policies are then trained within each cluster and refined with real-world data through iterative delta action modeling to bridge the sim-to-real gap. Finally, these experts are distilled into a unified generalist controller that preserves agility and robustness across all motion types. Experiments on two simulations and a real humanoid robot demonstrate that BB achieves state-of-the-art general whole-body control, setting a new benchmark for agile, robust, and generalizable humanoid performance in the real world. The project webpage is available at https://beingbeyond.github.io/BumbleBee/.

Ziluo Ding, Haobin Jiang, Yuxuan Wang et al.

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control of the upper and lower bodies into two independent controllers, so that they can better focus on their distinct tasks. This separation alleviates the dimensionality curse and improves fault tolerance. JAEGER supports both root velocity tracking (coarse-grained control) and local joint angle tracking (fine-grained control), enabling versatile and stable movements. To train the controller, we utilize a human motion dataset (AMASS), retargeting human poses to humanoid poses through an efficient retargeting network, and employ a curriculum learning approach. This method performs supervised learning for initialization, followed by reinforcement learning for further exploration. We conduct our experiments on two humanoid platforms and demonstrate the superiority of our approach against state-of-the-art methods in both simulation and real environments.

Junpeng Yue, Zepeng Wang, Yuxuan Wang et al.

This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective learning of new behaviors. While existing text-to-motion generation methods achieve semantic alignment between language and motion, they often produce kinematically or physically infeasible motions unsuitable for real-world deployment. To bridge this sim-to-real gap, we propose Reinforcement Learning from Physical Feedback (RLPF), a novel framework that integrates physics-aware motion evaluation with text-conditioned motion generation. RLPF employs a motion tracking policy to assess feasibility in a physics simulator, generating rewards for fine-tuning the motion generator. Furthermore, RLPF introduces an alignment verification module to preserve semantic fidelity to text instructions. This joint optimization ensures both physical plausibility and instruction alignment. Extensive experiments show that RLPF greatly outperforms baseline methods in generating physically feasible motions while maintaining semantic correspondence with text instruction, enabling successful deployment on real humanoid robots.