Author

Jun Sun

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Preprint Oct 2026

I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning

Behavioral foundation models (BFMs) have recently shown that a single humanoid policy can support diverse whole-body control, but extending such generality to physical interaction remains challenging. We introduce I-BFM, to our knowledge the first BFM for humanoid-object interaction. Rather than relying on task-specifi...

Zi-Qi Han, Yi-Tang Li, Jun Sun et al. · 0 citations

#machine learning Preprint Sep 2026

FlexiWorld: Learning and Planning via Flexible Action Chunks Across Multiple Time Scales

FlexiWorld, a JEPA-based world model that combines mixed-span goal supervision with variable-length action chunks to improve long-horizon control, is introduced and PushT ablations show improved direct control from mixed-span supervision, variable-length chunks, and Student Forcing.

Shi-Du Ren, Qi Gu, Zheng-Hao Ni et al. · 0 citations