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Author

Fatemeh Zargarbashi

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Preprint Sep 2026

KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation

This work proposes a hierarchical framework that uses motion keyframes as an intermediate representation between Vision-Language Model (VLM) planning and Reinforcement Learning (RL) control and introduces a saliency-based keyframe sampling strategy for low-level policy training that improves end-to-end task success rat...

Si-Tong Chen, Fatemeh Zargarbashi, Jin Cheng et al. · 0 citations
Jul 2026

Two2Four: Generative Quadruped Puppeteering from Human Motion

An automatic human-to-quadruped puppeteering framework that produces plausible and controllable quadruped motions from ordinary human motion data and enables fine-grained intuitive control of the quadruped motion such as head movement control and individual limb puppeteering.

Fatemeh Zargarbashi, Zehong Qiu, Dhruv Agrawal et al. · 0 citations

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