Author

Jun-Zhe He

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Preprint Oct 2026

Humanoid Mobility via Attention-based Contacts

This framework enables versatile humanoid mobility in challenging environments by using motion data strictly as a training prior for natural whole-body coordination while retaining the flexibility to discover environment-dependent behaviors through reinforcement learning.

Jun-Zhe He, Ke-Han Wen, Chong Zhang et al. · 0 citations

Preprint Sep 2026

HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction

Learning from demonstration (LfD) has enabled humanoid robots to acquire diverse whole-body skills, but extending this paradigm to human-object interaction (HOI) is limited by the availability of robot-compatible interaction references. We present HOI-Retarget, a contact-centric retargeting method that transfers HOI on...

Jih-Wan Shin, Adrià López Escoriza, Jun-Zhe He et al. · 2 citations