Authors

Sirui Xu

Publications 2

Preprint Open access

InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation

Yucheng Zhang, Sirui Xu, Jinhong Li et al. · 2026

Captured human-object interactions provide rich supervision for humanoid loco-manipulation, but they are sparse, heterogeneous, and not directly executable by robots. We introduce InterMimicGen, a self-evolving motion-imitation framework in which robot motion data and a tracking policy improve each other. First, we con …

Preprint Open access

InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulation

Zhuo Lin, Sirui Xu, Liuyu Bian et al. · 2026

We study test-time evolution for humanoid loco-manipulation: solving tasks that a controller was never trained for by repurposing its existing skills, improving from its own attempts, and retaining what it learns, without retraining. Our key insight is that a broad controller already holds much of the competence a new …

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