Yutang Lin

Yixuan Li, Le Ma, Yutang Lin et al. · pku

Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous learning. Despite recent advances, existing systems are validated using aggregate metrics that conflate distinct motion regimes, masking critical failure modes. This lack of diagnostic granularity, compounded by tightly coupled and labor-intensive system configurations, hinders robust real-world deployment. A key open challenge is building a teleoperation system that is simultaneously robust, versatile, and affordable for practical use. Here we present OmniClone, a whole-body humanoid teleoperation system that achieves high-fidelity, multi-skill control on a single consumer GPU with modest data requirements. Central to our approach is OmniBench, a diagnostic benchmark that evaluates policies across stratified motion categories and difficulty levels on unseen motions, exposing the narrow specialization of prior systems. Guided by these diagnostics, we identify an optimized training data recipe and integrate system-level improvements: subject-agnostic retargeting and robust communication, that collectively reduce Mean Per-Joint Position Error (MPJPE) by over 66% while requiring orders-of-magnitude fewer computational resources than comparable methods. Crucially, OmniClone is control-source-agnostic: a single unified policy supports real-time teleoperation, generated motion playback, and Vision-Language-Action (VLA) models, while generalizing across operators of vastly different body proportions. By uniting diagnostic evaluation with practical engineering, OmniClone provides an accessible foundation for scalable humanoid teleoperation and autonomous learning.

Xiaoxuan Ma, Yutang Lin, Yuan Xu et al. · pku

Understanding non-human primate behavior is crucial for improving animal welfare, modeling social behavior, and gaining insights into both distinctly human and shared behaviors. Despite recent advances in computer vision, automated analysis of primate behavior remains challenging due to the complexity of their social interactions and the lack of specialized algorithms. Existing methods often struggle with the nuanced behaviors and frequent occlusions characteristic of primate social dynamics. This study aims to develop an effective method for automated detection, tracking, and recognition of chimpanzee behaviors in video footage. Here we show that our proposed method, AlphaChimp, an end-to-end approach that simultaneously detects chimpanzee positions and estimates behavior categories from videos, significantly outperforms existing methods in behavior recognition. AlphaChimp achieves approximately 10% higher tracking accuracy and a 20% improvement in behavior recognition compared to state-of-the-art methods, particularly excelling in the recognition of social behaviors. This superior performance stems from AlphaChimp's innovative architecture, which integrates temporal feature fusion with a Transformer-based self-attention mechanism, enabling more effective capture and interpretation of complex social interactions among chimpanzees. Our approach bridges the gap between computer vision and primatology, enhancing technical capabilities and deepening our understanding of primate communication and sociality. We release our code and models and hope this will facilitate future research in animal social dynamics. This work contributes to ethology, cognitive science, and artificial intelligence, offering new perspectives on social intelligence.

Chenyang Shao, Xinyuan Hu, Yutang Lin et al.

The rapid expansion of web content has made on-device AI assistants indispensable for helping users manage the increasing complexity of online tasks. The emergent reasoning ability in large language models offer a promising path for next-generation on-device AI agents. However, deploying full-scale Large Language Models (LLMs) on resource-limited local devices is challenging. In this paper, we propose Division-of-Thoughts (DoT), a collaborative reasoning framework leveraging the synergy between locally deployed Smaller-scale Language Models (SLMs) and cloud-based LLMs. DoT leverages a Task Decomposer to elicit the inherent planning abilities in language models to decompose user queries into smaller sub-tasks, which allows hybrid language models to fully exploit their respective strengths. Besides, DoT employs a Task Scheduler to analyze the pair-wise dependency of sub-tasks and create a dependency graph, facilitating parallel reasoning of sub-tasks and the identification of key steps. To allocate the appropriate model based on the difficulty of sub-tasks, DoT leverages a Plug-and-Play Adapter, which is an additional task head attached to the SLM that does not alter the SLM's parameters. To boost adapter's task allocation capability, we propose a self-reinforced training method that relies solely on task execution feedback. Extensive experiments on various benchmarks demonstrate that our DoT significantly reduces LLM costs while maintaining competitive reasoning accuracy. Specifically, DoT reduces the average reasoning time and API costs by 66.12% and 83.57%, while achieving comparable reasoning accuracy with the best baseline methods.

Yushi Du, Yixuan Li, Baoxiong Jia et al. · pku

Human-humanoid collaboration shows significant promise for applications in healthcare, domestic assistance, and manufacturing. While compliant robot-human collaboration has been extensively developed for robotic arms, enabling compliant human-humanoid collaboration remains largely unexplored due to humanoids' complex whole-body dynamics. In this paper, we propose a proprioception-only reinforcement learning approach, COLA, that combines leader and follower behaviors within a single policy. The model is trained in a closed-loop environment with dynamic object interactions to predict object motion patterns and human intentions implicitly, enabling compliant collaboration to maintain load balance through coordinated trajectory planning. We evaluate our approach through comprehensive simulator and real-world experiments on collaborative carrying tasks, demonstrating the effectiveness, generalization, and robustness of our model across various terrains and objects. Simulation experiments demonstrate that our model reduces human effort by 24.7%. compared to baseline approaches while maintaining object stability. Real-world experiments validate robust collaborative carrying across different object types (boxes, desks, stretchers, etc.) and movement patterns (straight-line, turning, slope climbing). Human user studies with 23 participants confirm an average improvement of 27.4% compared to baseline models. Our method enables compliant human-humanoid collaborative carrying without requiring external sensors or complex interaction models, offering a practical solution for real-world deployment.