Author

Wenyao Zhang

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Preprint Aug 2026

HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark

This work introduces HumanTracker, a preference-aligned metric trained on 12K motion pairs containing 24K motions that better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.

Dai-En Liu, Zekun Qi, Jiayu Zeng et al. · 0 citations

Preprint Aug 2026

GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions

GeniWorld is presented, an interactive world model for robots that generalizes robustly across unseen scenarios by explicitly decoupling embodiment kinematics from environmental dynamics, and generates diverse manipulation trajectories within the world model, improving downstream policy performance and robustness in complex environments.

Chenghao Gu, Hanyang Yu, Jingbo Zhang et al. · 0 citations