Xiaokang Yang

Tengjie Zhu, Guanyu Cai, Yang Zhaohui et al.

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they typically operate in the robot's local frame and neglect global pose feedback, leading to drift and instability during extended execution. In this work, we present CLOT, a real-time whole-body humanoid teleoperation system that achieves closed-loop global motion tracking via high-frequency localization feedback. CLOT synchronizes operator and robot poses in a closed loop, enabling drift-free human-to-humanoid mimicry over long timehorizons. However, directly imposing global tracking rewards in reinforcement learning, often results in aggressive and brittle corrections. To address this, we propose a data-driven randomization strategy that decouples observation trajectories from reward evaluation, enabling smooth and stable global corrections. We further regularize the policy with an adversarial motion prior to suppress unnatural behaviors. To support CLOT, we collect 20 hours of carefully curated human motion data for training the humanoid teleoperation policy. We design a transformer-based policy and train it for over 1300 GPU hours. The policy is deployed on a full-sized humanoid with 31 DoF (excluding hands). Both simulation and real-world experiments verify high-dynamic motion, high-precision tracking, and strong robustness in sim-to-real humanoid teleoperation. Motion data, demos and code can be found in our website.

Qinglong Cao, Yuntian Chen, Chao Ma et al.

Recent studies have explored the combination of multiple LoRAs to simultaneously generate user-specified subjects and styles. However, most existing approaches fuse LoRA weights using static statistical heuristics that deviate from LoRA's original purpose of learning adaptive feature adjustments and ignore the randomness of sampled inputs. To address this, we propose a dynamic training-free fusion framework that operates throughout the generation process. During the forward pass, at each LoRA-applied layer, we dynamically compute the KL divergence between the base model's original features and those produced by subject and style LoRAs, respectively, and adaptively select the most appropriate weights for fusion. In the reverse denoising stage, we further refine the generation trajectory by dynamically applying gradient-based corrections derived from objective metrics such as CLIP and DINO scores, providing continuous semantic and stylistic guidance. By integrating these two complementary mechanisms-feature-level selection and metric-guided latent adjustment-across the entire diffusion timeline, our method dynamically achieves coherent subject-style synthesis without any retraining. Extensive experiments across diverse subject-style combinations demonstrate that our approach consistently outperforms state-of-the-art LoRA fusion methods both qualitatively and quantitatively.