Zijun Xu

Hongjin Chen, Wei Zhang, Pengfei Li et al.

Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual robots, bridging the gap to physically coupled multi-humanoid interaction remains challenging, primarily due to severe kinematic mismatches and complex contact dynamics. To address this, we introduce Rhythm, the first unified framework enabling real-world deployment of dual-humanoid systems for complex, physically plausible interactions. Our framework integrates three core components: (1) an Interaction-Aware Motion Retargeting (IAMR) module that generates feasible humanoid interaction references from human data; (2) an Interaction-Guided Reinforcement Learning (IGRL) policy that masters coupled dynamics via graph-based rewards; and (3) a real-world deployment system that enables robust transfer of dual-humanoid interaction. Extensive experiments on physical Unitree G1 robots demonstrate that our framework achieves robust interactive whole-body control, successfully transferring diverse behaviors such as hugging and dancing from simulation to reality.

Chao Xiong, Che Liu, Zijun Xu et al.

Recently, open domain multi-turn chatbots have attracted much interest from lots of researchers in both academia and industry. The dominant retrieval-based methods use context-response matching mechanisms for multi-turn response selection. Specifically, the state-of-the-art methods perform the context-response matching by word or segment similarity. However, these models lack a full exploitation of the sentence-level semantic information, and make simple mistakes that humans can easily avoid. In this work, we propose a matching network, called sequential sentence matching network (S2M), to use the sentence-level semantic information to address the problem. Firstly and most importantly, we find that by using the sentence-level semantic information, the network successfully addresses the problem and gets a significant improvement on matching, resulting in a state-of-the-art performance. Furthermore, we integrate the sentence matching we introduced here and the usual word similarity matching reported in the current literature, to match at different semantic levels. Experiments on three public data sets show that such integration further improves the model performance.