Author

Guang Chen

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Preprint Oct 2026

Motion Retargeting with Spatiotemporal Preferences for Humanoid Loco-Manipulation

Simulation experiments on a Unitree G1 and real-world experiments on a Unitree R1 demonstrate that STR improves geometric contact coverage and continuity at lower computational cost, while the resulting references improve downstream task completion across diverse object-interaction motions.

Xiong-Bo Shi, Shi-Hang Du, Zong-You Yu et al. · 0 citations

Preprint Aug 2026

GWM-VLA: Geometry-Aware Latent World Modeling for Vision-Language-Action Learning

GWM-VLA is proposed, a geometry-aware latent world modeling framework for VLA learning that combines geometry-aware multi-view state encoding, global context-conditioned target-view prediction, and shared latent-action representations grounded by robot-action supervision.

Yanping Zhao, Hang Yu, Yi-Wei Wang et al. · 2 citations