Authors

Soofiyan Atar

Publications 2

Preprint Open access

Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture

Seungho Yeom, Zhenyu Wu, Jaeyoung Huh et al. · 2026

Most humanoid loco-manipulation controllers require human motion data to learn whole-body coordination and posture, leaving policies reliant on external sources to provide this data. We present OCLO (Online-posture Compliant LOco-manipulation), a humanoid loco-manipulation system trained without human motion data and c …

Preprint Open access

SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation

Changwei Chen, Xiao Liang, Yinuo Yang et al. · 2026

Paired video-action demonstrations enable autonomous surgical behavior, but such data is scarce: robots perform roughly 1% of surgeries, while video-only data is abundant. Learning 3D object flow offers an embodiment-agnostic way to utilize video data, but flow alone specifies how an object should move, not where and w …

Co-authors