Author

Yi-Jie Guo

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Preprint Sep 2026

STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots

Humanoid loco-manipulation faces two prominent limitations: controllers using continuous velocity commands cannot precisely regulate individual footholds, while specialized foothold-tracking modules are difficult to integrate with whole-body manipulation. Furthermore, standard action-based imitation distillation primar...

Yuan-Zhuo Li, Wen Zhao, Zheng-Yu Yong et al. · 0 citations

#machine learning Preprint Sep 2026

Generalizable Robotic Insertion with World Models

Robotic assembly in high-mixture settings requires adaptable systems that can handle diverse parts, yet current approaches typically rely on policies specialized to each insertion task. Although this can reach high success rates, it makes the process of deploying systems for new problems tedious and time consuming. We...

Nicklas Hansen, Iretiayo Akinola, Yi-Jie Guo et al. · 0 citations