Author

Ang Li

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Preprint Sep 2026

FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry

Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimators generally rely on binary contact decisions to determine whether the FK measurements of an entire foot should be trusted. However, contac...

Kaixin Feng, Ang Li, Shaoxiong Zhang et al. · 0 citations

Preprint Sep 2026

PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

Prior-Informed Odometry from Human-Motion Tracking (PRIMO) generates odometry supervision by having the humanoid track diverse retargeted human motions in simulation, decoupling supervision from the deployment policies and broadening the training motion distribution, and consistently lowers mean trajectory errors relat...

Xuan-Wen Han, Ang Li, Shaoxiong Zhang et al. · 0 citations

#small language model Preprint Aug 2026

OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects

OVIP-SG is presented, a unified framework for instance-preserving semantic mapping, functional scene partitioning, and language-guided small, fine-grained object retrieval that outperforms ConceptGraphs under a unified evaluation protocol on Replica.

Tianjing Hao, Hai-Yu Lan, Ang Li et al. · 0 citations