{"id":"https://openalex.org/W7164013602","doi":"https://doi.org/10.48550/arxiv.2606.08548","title":"OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation","display_name":"OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation","publication_year":2026,"publication_date":"2026-06-07","ids":{"openalex":"https://openalex.org/W7164013602","doi":"https://doi.org/10.48550/arxiv.2606.08548"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.08548","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08548","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.08548","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103251234","display_name":"Zehao Yu","orcid":"https://orcid.org/0000-0002-6559-9830"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Zehao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138235763","display_name":"Jiakun Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Jiakun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138208648","display_name":"Weiji Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Weiji","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138257439","display_name":"Jiyuan Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Jiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110494989","display_name":"Chenyun Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chenyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138257156","display_name":"Chenjia Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Chenjia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138259056","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/T12290","display_name":"Human Motion and Animation","score":0.29010000824928284,"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/T12290","display_name":"Human Motion and Animation","score":0.29010000824928284,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.2700999975204468,"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":0.20029999315738678,"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/teleoperation","display_name":"Teleoperation","score":0.8434000015258789},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8097000122070312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.660099983215332},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5196999907493591},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4896000027656555},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.4708999991416931},{"id":"https://openalex.org/keywords/data-driven","display_name":"Data-driven","score":0.35010001063346863}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8434000015258789},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8097000122070312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6902999877929688},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.660099983215332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5335000157356262},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5196999907493591},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5108000040054321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4896000027656555},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.4708999991416931},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3488999903202057},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.34220001101493835},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3091999888420105},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3066999912261963},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29179999232292175},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.2879999876022339}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.08548","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08548","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.08548","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08548","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"Recent":[0],"progress":[1],"in":[2,104,113],"robot":[3,16,138],"manipulation":[4],"has":[5],"been":[6],"largely":[7,166],"driven":[8],"by":[9,175],"learning":[10],"from":[11,86],"large-scale":[12],"demonstrations.":[13],"For":[14],"humanoid":[15,78,130,137],"loco-manipulation":[17],"tasks,":[18],"however,":[19],"existing":[20],"data":[21,61,150,181],"sources":[22],"force":[23],"an":[24,49],"unsatisfying":[25],"tradeoff":[26],"between":[27],"trajectory":[28],"quality":[29],"and":[30,43,106,171],"scalability.":[31],"Real-world":[32],"teleoperation":[33,103,163],"provides":[34],"the":[35,118,135,144,168],"highest-quality":[36],"trajectories":[37,98],"but":[38],"requires":[39],"dedicated":[40],"physical":[41,66],"space":[42],"time-consuming":[44],"scene":[45],"resets.":[46],"Simulation":[47],"offers":[48],"alternative":[50],"way":[51],"out":[52],"of":[53],"this":[54,69],"dilemma:":[55],"it":[56],"can":[57],"produce":[58],"clean,":[59],"embodiment-aligned":[60],"at":[62,190],"scale":[63],"without":[64],"any":[65],"hardware.":[67],"In":[68],"paper,":[70],"we":[71,122],"propose":[72],"OASIS,":[73],"a":[74,90,114,125],"simulation-data-driven":[75],"framework":[76],"for":[77,129],"loco-manipulation.":[79,131],"OASIS":[80],"automatically":[81],"reconstructs":[82],"realistic":[83],"object":[84],"assets":[85],"real-world":[87],"images":[88],"using":[89],"3D":[91],"generative":[92],"model.":[93],"Based":[94],"on":[95,134,147,155,161],"these":[96],"assets,":[97],"are":[99],"first":[100],"collected":[101],"through":[102],"simulation,":[105],"then":[107],"augmented":[108],"under":[109,141],"diverse":[110],"domain":[111],"randomizations":[112],"post-processing":[115],"stage.":[116],"With":[117],"resulting":[119],"simulation":[120,149,177],"data,":[121,164],"further":[123],"design":[124],"hierarchical":[126],"visuomotor":[127],"policy":[128,145],"Extensive":[132],"experiments":[133],"real":[136],"show":[139],"that,":[140],"zero-shot":[142],"deployment,":[143],"trained":[146,160],"our":[148,176],"achieves":[151],"higher":[152],"success":[153],"rates":[154],"most":[156],"tasks":[157],"than":[158],"that":[159],"real-robot":[162,180],"owing":[165],"to":[167,183],"broad":[169],"lighting":[170],"environmental":[172],"variations":[173],"covered":[174],"rendering,":[178],"which":[179],"fails":[182],"capture.":[184],"The":[185],"project":[186],"page":[187],"is":[188],"available":[189],"https://oasis-humanoid.github.io/.":[191]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-10T00:00:00"}
