{"id":"https://openalex.org/W7135023432","doi":"https://doi.org/10.48550/arxiv.2603.10675","title":"Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation","display_name":"Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation","publication_year":2026,"publication_date":"2026-03-11","ids":{"openalex":"https://openalex.org/W7135023432","doi":"https://doi.org/10.48550/arxiv.2603.10675"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.10675","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10675","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.10675","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128889886","display_name":"Peng Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128875505","display_name":"Haoyang Ge","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ge, Haoyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128859183","display_name":"Chuan Qi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi, Chuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128847579","display_name":"Cong Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Cong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128857418","display_name":"hong li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128904629","display_name":"Jiang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Jiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018979451","display_name":"Pei Chi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chi, Pei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128899180","display_name":"Kai Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Kai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.45010000467300415,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.45010000467300415,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.1647000014781952,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.1581999957561493,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7605000138282776},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6108999848365784},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5047000050544739},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4880000054836273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48019999265670776},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44830000400543213},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4309000074863434},{"id":"https://openalex.org/keywords/predicate","display_name":"Predicate (mathematical logic)","score":0.41029998660087585},{"id":"https://openalex.org/keywords/json","display_name":"JSON","score":0.3912000060081482}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7695000171661377},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7605000138282776},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6108999848365784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5778999924659729},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5090000033378601},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5047000050544739},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4880000054836273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48019999265670776},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44830000400543213},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C140146324","wikidata":"https://www.wikidata.org/wiki/Q1144319","display_name":"Predicate (mathematical logic)","level":2,"score":0.41029998660087585},{"id":"https://openalex.org/C2780416260","wikidata":"https://www.wikidata.org/wiki/Q2063","display_name":"JSON","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3617999851703644},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3418999910354614},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.32339999079704285},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.29269999265670776},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28870001435279846},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2770000100135803},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C22304111","wikidata":"https://www.wikidata.org/wiki/Q1417978","display_name":"Object permanence","level":4,"score":0.2676999866962433},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.260699987411499},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.10675","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10675","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.10675","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10675","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robots":[0],"are":[1,33],"increasingly":[2],"expected":[3],"to":[4,109,119,124],"execute":[5,133],"open":[6],"ended":[7],"natural":[8],"language":[9],"requests":[10],"in":[11,96],"human":[12],"environments,":[13],"which":[14],"demands":[15],"reliable":[16],"long":[17,157],"horizon":[18,158],"execution":[19],"under":[20,147],"partial":[21],"observability.":[22],"This":[23],"is":[24],"especially":[25],"challenging":[26],"for":[27,128],"humanoids":[28],"because":[29],"locomotion":[30,139],"and":[31,39,55,83,88,101,103,123,130,140,149,156,172],"manipulation":[32,155,161],"tightly":[34],"coupled":[35],"through":[36],"stance,":[37],"reachability,":[38],"balance.":[40],"We":[41,132],"present":[42],"a":[43,72],"humanoid":[44,138,159],"agent":[45],"framework":[46],"that":[47],"turns":[48],"VLM":[49,66],"plans":[50],"into":[51,71],"verifiable":[52],"task":[53,93],"programs":[54],"closes":[56],"the":[57],"loop":[58],"with":[59,78],"multi":[60,167],"object":[61,99,168],"3D":[62],"geometric":[63],"supervision.":[64],"A":[65],"planner":[67],"compiles":[68],"each":[69,134],"instruction":[70],"typed":[73],"JSON":[74],"sequence":[75],"of":[76],"subtasks":[77],"explicit":[79],"predicate":[80],"based":[81],"preconditions":[82],"success":[84],"conditions.":[85],"Using":[86],"SAM3":[87],"RGB-D,":[89],"we":[90],"ground":[91],"all":[92],"relevant":[94],"entities":[95],"3D,":[97],"estimate":[98],"centroids":[100],"extents,":[102],"evaluate":[104],"predicates":[105],"over":[106],"stable":[107],"frames":[108],"obtain":[110],"condition":[111],"level":[112],"diagnostics.":[113],"The":[114],"supervisor":[115],"uses":[116],"these":[117],"diagnostics":[118],"verify":[120],"subtask":[121,135],"completion":[122],"provide":[125],"condition-level":[126],"feedback":[127],"progression":[129],"replanning.":[131,175],"by":[136],"coordinating":[137],"whole-body":[141],"manipulation,":[142],"selecting":[143],"feasible":[144],"motion":[145],"primitives":[146],"reachability":[148],"balance":[150],"constraints.":[151],"Experiments":[152],"on":[153],"tabletop":[154],"loco":[160],"tasks":[162],"show":[163],"improved":[164],"robustness":[165],"from":[166],"grounding,":[169],"temporal":[170],"stability,":[171],"recovery":[173],"driven":[174]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-13T00:00:00"}
