Author

Zhen-Hua Xiong

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Preprint Oct 2026

Test-Time Compute for Humanoid Behavior Foundation Models

Humanoid Behavior Foundation Models (BFMs) can execute impressive motions, but downstream applications such as loco-manipulation demand high whole-body positional accuracy. Existing BFMs suffer from a systematic command-execution gap, where executed motions deviate from desired ones. We show that additional test-time c...

Wei-Ji Xie, Jun-Song Wu, Zi-Bo Zhou et al. · 1 citation

Preprint Sep 2026

A Unified Dynamic Force Guidance Framework for Performance-Optimized Kinesthetic Teaching

Collaborative robots are increasingly deployed in industrial scenarios characterized by frequent product changeovers. As an intuitive programming method, kinesthetic teaching facilitates rapid robot deployment. However, users may overlook the configuration of the robot during kinesthetic teaching, leading to degradatio...

Chun-Xin Li, Jian-Hua Wu, Zhen-Hua Xiong et al. · 0 citations

Conference Jul 2026

Deep Imitation Learning for Efficient Path-Following of Hyper-Redundant Robots

Hyper-redundant robots are essential for navigation in highly constrained environments, yet their high-dimensional kinematics impose a severe computational burden on real-time motion planning. While optimization-based methods ensure tracking precision, their high computational latency makes them unsuitable for online f...

Nailong Bu, Ningyuan Luo, Chao-Yuan Liu et al. · 2026 IEEE/ASME International... · 0 citations