Authors

Zepeng Wang

Publications 2

Preprint Open access

Being-M0.7: A Latent World-Action Model for Humanoid Robots

Junpeng Yue, Boyuan Li, Yuxuan Wang et al. · 2026

Humanoid loco-manipulation requires coordinated locomotion and manipulation informed by future scene evolution and whole-body motion, yet learning these capabilities is constrained by scarce robot demonstrations. Human video and motion datasets offer scalable supervision, but many contain only video or motion rather th …

Preprint Open access

PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning

Zepeng Wang, Jiangxing Wang, Chao Ma et al. · 2026

Humanoid motion tracking policies rely on dense frame-by-frame references, limiting their use as high-level motion controllers for planning and interactive motion generation. We study \emph{Sparse Timed Keyframe Motion Tracking}, where a policy receives only sparse future keyframes and their desired arrival times, and …

Co-authors

Junpeng Yue Boyuan Li Yuxuan Wang Yuhui Fu Feiyang Xie Yu Zhang Jing Zhang Xianqi Zhang Weibo Li Xiaofei Zheng Yuming Fang Jiangxing Wang