Author

Bo-Yuan Chen

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#artificial intelligence Preprint Oct 2026

CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video

Partnered human-humanoid interaction couples locomotion with continuous physical contact. A humanoid needs to coordinate with a person's motion while responding to interaction forces and maintaining stable and natural movement. We present CoDance, a framework for learning reactive and compliant human-humanoid interacti...

Zhuoqun Chen, Shu-Cheng Jia, Bo-Yuan Chen · 0 citations

Preprint Sep 2026

CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation

Humanoids are increasingly capable of tracking complex whole-body motions, but physical interaction introduces a different challenge. When a robot makes contact with a person or the environment, it needs to respond to external forces while preserving the motion needed for the task. This response can vary across directi...

Xin-Yuan Luo, Chun-Yuan Yang, Bo-Yuan Chen et al. · 0 citations