Author

Zi-Fan Wang

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Preprint Oct 2026

ATHLETE: Learning Reactive Humanoid Tennis via Trajectory-Guided Motion Matching

Humanoid tennis requires reactive whole-body coordination under rapidly changing ball dynamics, yet collecting task-specific motion-capture demonstrations that cover diverse approach states, contact locations, and timing conditions is costly. Inspired by how humans acquire new skills by combining reusable motor experie...

Zhi-Hao Tian, Zi-Fan Wang, En-Zheng Zhu et al. · 0 citations

Preprint Oct 2026

TRACE: Efficient Transfer Learning for Neural Whole-Body Control Across Humanoid Embodiments

TRACE first injects kinematic priors into input and output projection layers and aligns nominal joint dynamics to reduce embodiment mismatch and support stable fine-tuning, then combines encoder distillation with low-rank reinforcement learning on a compact, quality-screened motion set.

Qing-Yu Lan, Zhi-Hao Tian, Zi-Fan Wang et al. · 0 citations