Author

Zheng-Hao Xiao

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Preprint Sep 2026

MSK-Bench: Benchmarking Full-Body Musculoskeletal Motor Control Across Tasks, Control Paradigms, and Physiological Metrics

Musculoskeletal (MSK) humanoids provide a physiologically grounded embodiment for studying full-body motor control, but their high-dimensional muscle actuation, delayed activation dynamics, and redundant muscle--tendon structures make learning substantially harder than torque-driven humanoid control. Existing MSK bench...

Meng-Tao Ou, Zongzheng Zhang, Zheng-Hao Xiao et al. · 0 citations

#artificial intelligence Preprint Sep 2026

VPTwin: Real-Sim-Real Video Prediction for Robotic Manipulation Planning

VPTwin is proposed, a Real-Sim-Real video prediction framework that anchors real-world future prediction using real-synchronized simulation twins and establishes a predictive planning loop using VPTwin to visually verify VLM-proposed actions and guide reliable real-world execution.

Zheng-Hao Xiao, Min-Ting Pan, Nan-Tian He et al. · 0 citations