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
Assembly, wear, and component replacement perturb the sensor extrinsics and joint zeros encoded by a humanoid CAD model. Existing procedures calibrate one sensor pair or require external fiducials. Using only robot-native motion and onboard sensing, we present OmniCalib, a target-free workflow that calibrates the full...
Kai-Xiang Lu, Hai-Yu Lan, Chun-Xia Qiao et al.· 0 citations
Multi-View Unified Camera Fields (MVUCF), a training-only framework that forms a shared action-facing latent field across views, and real-world humanoid experiments further provide evidence of its practical effectiveness under RGB-only deployment.
Jia-Rui Yang, Ye-Hao Lu, Yu-Ning Su et al.· 1 citation
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems or fiducial targets. We present a self-contained calibration framework exploiting only onboard joint encoders and a pelvis-mounted IMU during...
Kai-Xiang Lu, Hai-Yu Lan, Chun-Xia Qiao et al.· 0 citations
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
Time-Frequency Geometric Cross-Attention (TFGCA), a drop-in module repairing both blind spots in vision-language-action policies, uses a per-dimension learnable stationary wavelet transform to decompose the action chunk into time-frequency tokens, and each time token retrieves information from them via a cross-attentio...
Sheng-Ye Dong, Hao-Chen Niu, Hao Liu et al.· 0 citations
V-Link is proposed, which explicitly recovers visual representations during the vision-language (VL) to action (A) feature transfer and injects them into Action DiT through asymmetric pathways.
Ye-Hao Lu, Jia-Rui Yang, Yu-Ning Su et al.· 0 citations
TemporalFlow-VLA provides a compact, physically grounded interface for exploiting ordered execution history without explicit motion estimation or geometric processing at deployment, and shows its clearest advantage over prior methods on longer-horizon, multi-stage manipulation.
Jia-Rui Yang, Ye-Hao Lu, Yu-Ning Su et al.· 1 citation
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
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