{"id":"https://openalex.org/W7153015077","doi":"https://doi.org/10.48550/arxiv.2604.07993","title":"HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation","display_name":"HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation","publication_year":2026,"publication_date":"2026-04-09","ids":{"openalex":"https://openalex.org/W7153015077","doi":"https://doi.org/10.48550/arxiv.2604.07993"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.07993","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.07993","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.07993","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133336251","display_name":"Shuanghao Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Bai, Shuanghao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133330033","display_name":"Meng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Meng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133359450","display_name":"Xinyuan Lv","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lv, Xinyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133326158","display_name":"Jiawei Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jiawei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133351062","display_name":"Xinhua Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xinhua","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133348180","display_name":"Fei Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liao, Fei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133355024","display_name":"Chengkai Hou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Chengkai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121811954","display_name":"Langzhe Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Langzhe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133384677","display_name":"Wanqi Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Wanqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133338516","display_name":"Kun Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Kun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133360449","display_name":"Ziluo Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Ziluo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133383436","display_name":"Zhiyuan Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zhiyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133325987","display_name":"Lei Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Lei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133389617","display_name":"Shanghang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shanghang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133316758","display_name":"Zhengping Che","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Che, Zhengping","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133350507","display_name":"Jian Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Jian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133391564","display_name":"Badong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Badong","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":17,"corresponding_author_ids":["https://openalex.org/A5133336251"],"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":0.4876999855041504,"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":0.4876999855041504,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.17560000717639923,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.09309999644756317,"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":0.824999988079071},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6396999955177307},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5964999794960022},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5839999914169312},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5230000019073486},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5205000042915344},{"id":"https://openalex.org/keywords/body-schema","display_name":"Body schema","score":0.48260000348091125},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44920000433921814},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.43639999628067017},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4341999888420105}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.824999988079071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7160999774932861},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6396999955177307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6097999811172485},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5964999794960022},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5839999914169312},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5230000019073486},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49320000410079956},{"id":"https://openalex.org/C22237779","wikidata":"https://www.wikidata.org/wiki/Q907574","display_name":"Body schema","level":3,"score":0.48260000348091125},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44920000433921814},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.43639999628067017},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4341999888420105},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.41200000047683716},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3878999948501587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37279999256134033},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.36090001463890076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.30219998955726624},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2971999943256378},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.07993","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.07993","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.07993","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.07993","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Humans":[0],"achieve":[1],"complex":[2],"manipulation":[3,35,124],"through":[4],"coordinated":[5,34],"whole-body":[6,63],"control,":[7],"whereas":[8],"most":[9],"Vision-Language-Action":[10],"(VLA)":[11],"models":[12],"treat":[13],"robot":[14],"body":[15],"parts":[16],"largely":[17],"independently,":[18],"making":[19],"high-DoF":[20],"humanoid":[21,39,123],"control":[22],"challenging":[23],"and":[24,54,65,136,141],"often":[25],"unstable.":[26],"We":[27],"present":[28],"HEX,":[29],"a":[30,43,56,100,105],"state-centric":[31],"framework":[32],"for":[33,48,117],"on":[36,121],"full-sized":[37],"bipedal":[38],"robots.":[40],"HEX":[41,80,128],"introduces":[42],"humanoid-aligned":[44],"universal":[45],"state":[46],"representation":[47],"scalable":[49],"learning":[50],"across":[51],"heterogeneous":[52],"embodiments,":[53],"incorporates":[55],"Mixture-of-Experts":[57],"Unified":[58],"Proprioceptive":[59],"Predictor":[60],"to":[61,85,109],"model":[62],"coordination":[64],"temporal":[66,77],"motion":[67],"dynamics":[68,116],"from":[69],"large-scale":[70],"multi-embodiment":[71],"trajectory":[72],"data.":[73],"To":[74],"efficiently":[75],"capture":[76],"visual":[78],"context,":[79],"uses":[81],"lightweight":[82],"history":[83],"tokens":[84],"summarize":[86],"past":[87],"observations,":[88],"avoiding":[89],"repeated":[90],"encoding":[91],"of":[92],"historical":[93],"images":[94],"during":[95],"inference.":[96],"It":[97],"further":[98],"employs":[99],"residual-gated":[101],"fusion":[102],"mechanism":[103],"with":[104,114],"flow-matching":[106],"action":[107,118],"head":[108],"adaptively":[110],"integrate":[111],"visual-language":[112],"cues":[113],"proprioceptive":[115],"generation.":[119],"Experiments":[120],"real-world":[122],"tasks":[125],"show":[126],"that":[127],"achieves":[129],"state-of-the-art":[130],"performance":[131],"in":[132,139],"task":[133],"success":[134],"rate":[135],"generalization,":[137],"particularly":[138],"fast-reaction":[140],"long-horizon":[142],"scenarios.":[143]},"counts_by_year":[],"updated_date":"2026-04-11T06:19:08.300824","created_date":"2026-04-11T00:00:00"}