Author

Wei-Duo Yuan

2 papers indexed here

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Preprint Sep 2026

HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

Object transportation is a fundamental capability for humanoid robots operating in real-world, human-centric environments, yet existing methods struggle when clutter constrains free space around both the robot and its carried payload. We present HOTICE, a whole-body humanoid learning framework for transporting objects...

Toàn Nguyên, Wei-Duo Yuan, Siheng Zhao et al. · 0 citations

#artificial intelligence Mar 2026

Large Reward Models: Generalizable Online Robot Reward Generation with Vision-Language Models

This paper proposes Large Reward Models (LRMs), a framework that adapts foundation VLMs into frame-level reward generators for robot policy refinement, and shows that LRM progress rewards provide the strongest non-privileged online refinement signal, improving the IL baseline and narrowing the gap to privileged environ...

Yan-Ru Wu, Wei-Duo Yuan, Esteban Martinez Licon et al. · arXiv.org · 16 citations · ⚡1