Authors

Ziliang Feng

Publications 2

Preprint Open access

Towards a General Humanoid Loco-Manipulation Model via Egocentric Whole-Body Human Data Pretraining

Chongyang Xu, Zhao Wu, Jin Chen et al. · 2026

Humanoid whole-body manipulation has advanced rapidly, enabling policies to coordinate locomotion, posture, bimanual interaction, and dexterous hand movements. Meanwhile, egocentric human videos provide diverse examples of everyday interactions across objects and scenes, offering scalable supervision without robot oper …

Preprint Open access

CLAP: Closed-Loop Alignment with Pressure for Precise Suction Manipulation

Yixian Zou, Chongyang Xu, Yuling Xin et al. · 2026

Stacking and palletising demand precise placement: error left in one layer is inherited by the next, and a flat pad offers no feature to funnel a wrong pose into the right one. Top-down suction suits such dense arrangements, and suction has already been brought into vision-language-action (VLA) policies. What that work …

Co-authors

Chongyang Xu Zhao Wu Jin Chen Yiming Jiang Jinhui Ye Yuming Jiang Shifeng Zhang Mu Xu Yilun Chen Li Lu Steven C. H. Hoi Yixian Zou