Author

Qia-Yuan Liao

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Preprint Oct 2026

SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model

Tracking large human-motion datasets has become the dominant route to general, expressive humanoid whole-body control, but scaling across many motions is expensive. Current pipelines use model-free reinforcement learning, either merging per-motion specialists through lossy distillation, or brute-forcing a single policy...

Qia-Yuan Liao, Yi-Yang Shao, Jun-Feng Long et al. · 1 citation

#machine learning Preprint Oct 2026

Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data

Humanoid robots still struggle to plan contact-rich whole-body manipulation from egocentric RGB and proprioception. Workhorse learns such manipulation from robot-free human demonstrations. A visual planner predicts five-link targets: the poses of the torso, both wrists, and both feet. A reinforcement-learning whole-bod...

Song-Bo Hu, Qia-Yuan Liao, Yu-Feng Chi et al. · 1 citation