Author

Ji Ma

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Preprint Sep 2026

Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence

Unified Motion Retargeting (UMR) is presented, a framework that learns dense point cloud correspondence without requiring manually designed human-robot mappings, and provides a scalable foundation for transforming large-scale human motion references into robot-ready training data.

Han-Yang Cao, Yu Fang, Tae-Joung Kwon et al. · 4 citations · ⚡2

Preprint Aug 2026

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

This work proposes a hierarchical reinforcement learning pipeline that empowers the robots to perform aggressive locomotion through constrained obstacles--a narrow gate, extending the lifelike agility of legged robots to match that of their biological counterparts.

Zeren Luo, Jiahui Zhang, Yimin Han et al. · 1 citation

#artificial intelligence Preprint Aug 2026

HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction

This work presents HiPHI, a 600+ hour scale high-fidelity whole-body human motion dataset designed to systematically maximize coverage of the human motion and interaction manifold, and introduces a benchmark suite evaluating motion-space diversity, interaction grounding, object consistency, and physical AI applications...

Jiahao Ji, Ji Ma, Runhan Zhang et al. · 2 citations · ⚡1