Author

Dahua Lin

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Preprint Sep 2026

Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer

Skel-WAM is introduced, a world action model that bridges differences between human and robot motion through a unified hand-skeleton motion interface, and demonstrates that a shared skeletal interface enables joint learning across human and robot data and expands robot task coverage through complementary human demonstr...

Ze-Tao Cai, Ya-Ping Li, Yi-Qun Wang et al. · 0 citations

Jul 2026

KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

The Kinematic-Aware Articulation Interface (KAI), a structured intermediate representation that captures the kinematic structure of articulated objects, is introduced, a structured intermediate representation that provides a strong inductive bias aligned with the underlying structure of articulated motion.

Ya-Ping Li, Zhaxizhuoma, Qiao-Jun Yu et al. · arXiv.org · 0 citations

Jul 2026

Scaling Behavior Foundation Model for Humanoid Robots

This work revisits the scaling recipe for BFMs and demonstrates that substantial performance gains can be achieved through the coordination of three core components: the learning paradigm of motion tracking that reformulates diverse humanoid control problems as the reproduction of integrated whole-body behaviors in the...

Weishuai Zeng, Kangning Yin, Xiaojie Niu et al. · arXiv.org · 3 citations · ⚡1