Author

Qing Zhang

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Preprint Oct 2026

OmniInteract: Towards Unified Whole-Body Interaction Control for Dual Humanoids

Physical interaction is a key capability for humanoid collaboration, requiring coordinated whole-body motion and precise contact. However, learning diverse dual-humanoid interactions faces two major challenges: (1) human-robot morphological differences disrupt contact interfaces and spatial relationships during retarge...

Ying-Hao Li, Tian-Yun Zhang, Zhuo-Hao Li et al. · 0 citations

#artificial intelligence Preprint Oct 2026

Plausible Future, Wrong Choice: Steering World-Action Models toward Intended Future

World-Action Models (WAMs) have emerged as a promising paradigm for embodied generalist policies by jointly modeling future world evolution and robot actions across diverse manipulation tasks. However, representing diverse futures is only the first step: a capable WAM must also generate futures that match the requireme...

Zhuo-Hao Li, Jia-Wei He, Yu-Xiang Yan et al. · 0 citations

#artificial intelligence Preprint Oct 2026

TACD: Distilling Efficient Text-to-Motion Models via Terminal Amplification Control

Recent text-to-motion models have improved motion quality and instruction following, yet many-step denoising and large model components make deployment slow and memory-intensive. We present Terminal-Amplification-Controlled Distillation (TACD), an on-policy approach for training efficient motion generators from text pr...

Wei-Jin Huang, Yuan-Ming Li, Kun-Yu Lin et al. · 0 citations