Author

Xiao-Xiao Long

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Preprint Sep 2026

BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video

BeyondRetarget is proposed, an end-to-end framework that directly maps monocular RGB videos to robot motions that significantly improves the accuracy and robustness of generated robot motions, while achieving higher execution success rates and lower latency in both simulation environments and real humanoid robots.

Tian-Yu Xiong, Yi Lu, Jin-Rui Wang et al. · 1 citation

Preprint Sep 2026

EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

Existing humanoid locomotion systems primarily focus on stability and task execution, while integrating expressiveness with explicit locomotion control remains challenging. We propose EMoG, an emotion-modulated gait generation framework for expressive humanoid locomotion. EMoG introduces an emotional-style code with co...

Yi Lu, Tian-Hao Jiang, Hong-Long Tian et al. · 0 citations

Preprint Aug 2026

C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video

C2Dex is presented, a video-to-dexterous-manipulation framework built around a shared interaction representation: stable object-side contacts recovered by aggregating noisy frame-wise observations in the canonical object space that serve a dual role: as trajectory-level constraints that guide reconstruction toward temp...

Jie Ren, Zhe-Hao Jiang, Yin-Hong Yang et al. · 3 citations · ⚡1