Author

Chen-Jia Bai

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Preprint Sep 2026

NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation

Whole-body teleoperation requires a humanoid robot to reproduce a human operator's behavior even when their terrains differ. This demands that the robot perceive local terrain and adapt its posture and contacts accordingly, rather than copy the operator's motion frame by frame. However, paired motion data linking the s...

Xiang-Yu Miao, Jun-Song Wu, Ji-Yuan Shi et al. · 0 citations

#artificial intelligence Preprint Sep 2026

ReWeight: Leveraging Human Data for VLA Post-Training via Demonstration Retrieval and Sample Weighting

ReWeight is introduced, a framework that incorporates human data into VLA post-training through demonstration-level retrieval and sample-level weighting and learns a cross-embodiment visuomotor representation that combines visual observations with future actions to measure behavioral similarity between human and robot...

Chen-Wei Wang, Dian-Ye Huang, Match W. L. Ko et al. · 0 citations