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#machine learning Preprint Sep 2026

Learning Expressive and Compositional Motion Representation via Spectral Skills

Robotic foundation models offer a promising path toward general-purpose humanoid robot control, often through hierarchical architectures. However, their effectiveness depends on the command interface between the planner and the controller, which must support accurate execution while remaining easy to predict, and ideal...

Fei-Yang Wu, Chen-Xiao Gao, Chen Yang et al. · 0 citations
Preprint Sep 2026

Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

Humanoid robots are expected to perform diverse human-level tasks in daily environments, many of which require precise regulation of interaction forces. While recent vision-language-action (VLA) models have shown promise for semantic planning and visuomotor control, existing humanoid systems primarily represent actions...

Fu-Kang Liu, Yipu Chen, Jaehwi Jang et al. · 0 citations

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