Author

Bi-Ke Zhang

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Preprint Oct 2026

VICAR: Video Imitation with Contact-Aware Retargeting for Humanoid Interactive Skills

Third-person human videos offer a scalable alternative to task-specific reward engineering, teleoperation, and manually scripted demonstrations for humanoid loco-manipulation. Recent video-to-humanoid systems have shown that noisy human motion, object trajectories, and contacts can be extracted from unstructured videos...

Dvij Kalaria, Bi-Ke Zhang, S. Sastry · 0 citations

Preprint Sep 2026

ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

Safe control of humanoid robots remains challenging due to their high-dimensional dynamics, contact-rich interactions, and sensitivity to disturbances. Although reinforcement learning has enabled effective locomotion and motion tracking, learned policies can still generate unsafe actions that lead to instability or fal...

Ge Qu, Tong Zhang, Bi-Ke Zhang et al. · 0 citations