{"id":"https://openalex.org/W7166547088","doi":"https://doi.org/10.48550/arxiv.2606.27581","title":"SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction","display_name":"SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7166547088","doi":"https://doi.org/10.48550/arxiv.2606.27581"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.27581","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27581","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.27581","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139546055","display_name":"Sirui Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Sirui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139616542","display_name":"Shibo Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Shibo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139545354","display_name":"Zhen Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Zhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009234134","display_name":"Jiaman Li","orcid":"https://orcid.org/0000-0002-1261-3248"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiaman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Guanya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139629913","display_name":"C. Karen Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, C. Karen","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":0.4115000069141388,"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":0.4115000069141388,"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/T12290","display_name":"Human Motion and Animation","score":0.24140000343322754,"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":0.15330000221729279,"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":0.7646999955177307},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5907999873161316},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5688999891281128},{"id":"https://openalex.org/keywords/hindsight-bias","display_name":"Hindsight bias","score":0.5249000191688538},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.44780001044273376},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.40549999475479126},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.33469998836517334}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7646999955177307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7432000041007996},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5907999873161316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5776000022888184},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5688999891281128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5491999983787537},{"id":"https://openalex.org/C10347200","wikidata":"https://www.wikidata.org/wiki/Q1960297","display_name":"Hindsight bias","level":2,"score":0.5249000191688538},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.44780001044273376},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4092000126838684},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.40549999475479126},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.33469998836517334},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2987000048160553},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2506999969482422},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.27581","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27581","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.27581","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27581","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":"Preprint"},"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":{"Current":[0],"humanoid":[1,142],"reinforcement-learning":[2],"policies":[3],"excel":[4],"at":[5],"free-space":[6,120],"motions":[7,57,104],"but":[8],"struggle":[9],"with":[10,24],"contact-rich":[11,97,122],"tasks,":[12],"as":[13,137],"pure":[14],"kinematic":[15],"tracking":[16],"cannot":[17],"resolve":[18],"the":[19,69,113],"physical":[20],"ambiguities":[21],"of":[22,40,71,94],"interacting":[23],"objects":[25],"and":[26,46,58,105,121,133,146,153],"uneven":[27],"terrain.":[28],"To":[29,67],"address":[30],"this,":[31],"we":[32,75],"introduce":[33],"SceneBot,":[34],"a":[35,51,77,130,138],"unified":[36],"motion-tracking":[37],"framework":[38,116],"capable":[39],"handling":[41],"freespace":[42],"locomotion,":[43],"terrain":[44],"traversal,":[45],"whole-body":[47],"manipulation.":[48],"SceneBot":[49,99,111],"conditions":[50],"single":[52],"policy":[53],"on":[54,91],"both":[55],"reference":[56],"per-link":[59],"contact":[60,135],"labels,":[61],"explicitly":[62],"defining":[63],"expected":[64],"environmental":[65],"interactions.":[66],"overcome":[68],"lack":[70],"annotated":[72],"interaction":[73],"data,":[74,98],"propose":[76],"hindsight":[78],"scene":[79],"reconstruction":[80],"approach":[81],"that":[82,110],"infers":[83],"scene-interaction":[84],"graphs":[85],"from":[86],"retargeted":[87],"human":[88],"motion.":[89],"Trained":[90],"7.5":[92],"hours":[93],"this":[95],"reconstructed,":[96],"successfully":[100],"generalizes":[101],"to":[102,117],"unseen":[103],"environments.":[106],"Our":[107],"results":[108],"demonstrate":[109],"is":[112],"first":[114],"general":[115],"seamlessly":[118],"unify":[119],"behaviors":[123],"executing":[124],"complex,":[125],"long-horizon":[126],"tasks":[127],"like":[128],"carrying":[129],"box":[131],"upstairs":[132],"establishing":[134],"conditioning":[136],"powerful":[139],"interface":[140],"for":[141],"control.":[143],"All":[144],"code":[145],"data":[147],"will":[148],"be":[149],"open-sourced.":[150],"More":[151],"demos":[152],"information":[154],"are":[155],"available":[156],"at:":[157],"https://ericcsr.github.io/scenebot/":[158]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-30T00:00:00"}