{"id":"https://openalex.org/W7155540836","doi":"https://doi.org/10.48550/arxiv.2604.21351","title":"Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot","display_name":"Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot","publication_year":2026,"publication_date":"2026-04-23","ids":{"openalex":"https://openalex.org/W7155540836","doi":"https://doi.org/10.48550/arxiv.2604.21351"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.21351","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.21351","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.2604.21351","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134548001","display_name":"Yucheng Xin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin, Yucheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017314474","display_name":"Jiacheng Bao","orcid":"https://orcid.org/0000-0003-2787-6507"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bao, Jiacheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134468758","display_name":"Haoran Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Haoran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111537301","display_name":"W. Que","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Que, Wenqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134529357","display_name":"Dong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Dong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134521051","display_name":"Junbo Tan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tan, Junbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134540138","display_name":"Xueqian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xueqian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134491228","display_name":"Bin Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134521609","display_name":"Xuelong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xuelong","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/T10879","display_name":"Robotic Locomotion and Control","score":0.35100001096725464,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.35100001096725464,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.15710000693798065,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.11479999870061874,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8061000108718872},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.675599992275238},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6098999977111816},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5719000101089478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5223000049591064},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5127999782562256},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4722999930381775},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4569000005722046}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8061000108718872},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.675599992275238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732000112533569},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6098999977111816},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5719000101089478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5422000288963318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5223000049591064},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5127999782562256},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4722999930381775},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4569000005722046},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.39809998869895935},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3935000002384186},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.366100013256073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35350000858306885},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3345000147819519},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.32989999651908875},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.27469998598098755},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2702000141143799},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2590999901294708}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.21351","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.21351","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.2604.21351","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.21351","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":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.4047461152076721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"integration":[1],"of":[2,124],"imitation":[3],"and":[4,65,83,99,134,146,185],"reinforcement":[5],"learning":[6],"has":[7],"enabled":[8],"remarkable":[9],"advances":[10],"in":[11,144],"humanoid":[12,195],"whole-body":[13],"control,":[14],"facilitating":[15],"diverse":[16,169],"human-like":[17],"behaviors.":[18],"However,":[19],"research":[20],"on":[21,116,122,129,147,158],"environment-dependent":[22],"motions":[23],"remains":[24],"limited.":[25],"Existing":[26],"methods":[27],"typically":[28],"enforce":[29],"rigid":[30],"trajectory":[31,183],"tracking":[32,184],"while":[33,108,172],"neglecting":[34],"physical":[35],"interactions":[36],"with":[37,131],"the":[38,63,67,86,148,179],"environment.":[39],"We":[40,112],"observe":[41],"that":[42,92,153],"humans":[43],"naturally":[44],"exploit":[45],"a":[46,76,90,190],"\"weightless\"":[47],"state":[48],"during":[49],"non-self-stabilizing":[50],"(NSS)":[51],"motions--selectively":[52],"relaxing":[53],"specific":[54],"joints":[55,96],"to":[56,97,100],"allow":[57],"passive":[58],"body--environment":[59],"contact,":[60],"thereby":[61],"stabilizing":[62],"body":[64],"completing":[66],"motion.":[68],"Inspired":[69],"by":[70],"this":[71],"biological":[72],"mechanism,":[73],"we":[74,84],"design":[75],"weightlessness-state":[77],"auto-labeling":[78],"strategy":[79],"for":[80,193],"dataset":[81],"annotation;":[82],"propose":[85],"Weightlessness":[87],"Mechanism":[88],"(WM),":[89],"method":[91],"dynamically":[93],"determines":[94],"which":[95],"relax":[98],"what":[101],"level,":[102],"together":[103],"enabling":[104],"effective":[105],"environmental":[106,170,187],"interaction":[107],"executing":[109],"target":[110],"motions.":[111],"evaluate":[113],"our":[114,154],"approach":[115],"3":[117],"representative":[118],"NSS":[119],"tasks:":[120],"sitting":[121],"chairs":[123],"varying":[125],"heights,":[126],"lying":[127],"down":[128],"beds":[130],"different":[132],"inclinations,":[133],"leaning":[135],"against":[136],"walls":[137],"via":[138],"shoulder":[139],"or":[140],"elbow.":[141],"Extensive":[142],"experiments":[143],"simulation":[145],"Unitree":[149],"G1":[150],"robot":[151],"demonstrate":[152],"WM":[155],"method,":[156],"trained":[157],"single-action":[159],"demonstrations":[160],"without":[161],"any":[162],"task-specific":[163],"tuning,":[164],"achieves":[165],"strong":[166],"generalization":[167],"across":[168],"configurations":[171],"maintaining":[173],"motion":[174],"stability.":[175],"Our":[176],"work":[177],"bridges":[178],"gap":[180],"between":[181],"precise":[182],"adaptive":[186],"interaction,":[188],"offering":[189],"biologically-inspired":[191],"solution":[192],"contact-rich":[194],"control.":[196]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-25T00:00:00"}