Author

Dahua Lin

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Preprint Sep 2026

Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer

Robot demonstrations are expensive to collect and often provide limited distributional coverage of task variations. Human videos offer a low-cost source of complementary manipulation experience, but learning from them requires bridging embodiment gaps in visual appearance and action spaces. We introduce Skel-WAM, a wor...

Ze-Tao Cai, Ya-Ping Li, Yi-Qun Wang et al. · 0 citations

Jul 2026

KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

The Kinematic-Aware Articulation Interface (KAI), a structured intermediate representation that captures the kinematic structure of articulated objects, is introduced, a structured intermediate representation that provides a strong inductive bias aligned with the underlying structure of articulated motion.

Ya-Ping Li, Zhaxizhuoma, Qiao-Jun Yu et al. · arXiv.org · 0 citations

Jul 2026

Scaling Behavior Foundation Model for Humanoid Robots

This work revisits the scaling recipe for BFMs and demonstrates that substantial performance gains can be achieved through the coordination of three core components: the learning paradigm of motion tracking that reformulates diverse humanoid control problems as the reproduction of integrated whole-body behaviors in the...

Weishuai Zeng, Kangning Yin, Xiaojie Niu et al. · arXiv.org · 3 citations · ⚡1