{"id":"https://openalex.org/W7166573135","doi":"https://doi.org/10.48550/arxiv.2606.27676","title":"CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation","display_name":"CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation","publication_year":2026,"publication_date":"2026-06-26","ids":{"openalex":"https://openalex.org/W7166573135","doi":"https://doi.org/10.48550/arxiv.2606.27676"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.27676","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27676","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.2606.27676","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101885736","display_name":"Wenqi Ge","orcid":"https://orcid.org/0009-0004-1925-0226"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ge, Wenqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139582645","display_name":"Junde Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Junde","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460018","display_name":"Zhen Fu","orcid":"https://orcid.org/0009-0009-4831-2437"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Zhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043901029","display_name":"Shunpeng Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Shunpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139569064","display_name":"Jiayu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jiayu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139576792","display_name":"Hua Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Hua","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":0.45590001344680786,"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":0.45590001344680786,"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":0.13989999890327454,"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":0.12280000001192093,"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/exploit","display_name":"Exploit","score":0.5972999930381775},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5088000297546387},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5077999830245972},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4977000057697296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48809999227523804},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.3695000112056732},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.35839998722076416},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.32829999923706055},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.3248000144958496}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682200014591217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6122000217437744},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5972999930381775},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5088000297546387},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5077999830245972},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48809999227523804},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3959999978542328},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35899999737739563},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35839998722076416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34299999475479126},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.31470000743865967},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3075999915599823},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C146249460","wikidata":"https://www.wikidata.org/wiki/Q2914991","display_name":"Fixation (population genetics)","level":3,"score":0.2596000134944916},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.2524999976158142},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.27676","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27676","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.2606.27676","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27676","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":[{"score":0.5602548122406006,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"everyday":[1],"tasks":[2],"with":[3,10,33,214],"humanoid":[4],"robots":[5],"requires":[6],"coordinating":[7],"stable":[8],"locomotion":[9,75,131],"versatile":[11],"manipulation.":[12],"However,":[13],"existing":[14],"whole-body":[15,60,169,202],"controllers":[16],"still":[17],"face":[18],"significant":[19],"challenges.":[20],"Methods":[21],"trained":[22,137],"solely":[23],"via":[24,145],"command":[25],"sampling,":[26],"without":[27,207],"motion-capture":[28,209],"(MoCap)":[29],"data,":[30],"often":[31],"struggle":[32],"sparse":[34],"rewards":[35],"and":[36,58,87,110,142,159,162,177,186,204],"require":[37],"carefully":[38],"tuned":[39],"curricula":[40],"to":[41,117],"converge.":[42],"This":[43,113],"is":[44,132],"especially":[45],"problematic":[46],"for":[47,80,107],"upper-body":[48,108],"control,":[49],"where":[50],"the":[51,102,119],"resulting":[52],"motions":[53],"deviate":[54],"from":[55,70],"human-like":[56],"statistics":[57],"degrade":[59],"coordination.":[61],"Conversely,":[62],"approaches":[63],"that":[64,100],"imitate":[65],"full-body":[66,208],"MoCap":[67,105,121],"data":[68,85,106],"suffer":[69],"dataset":[71,122],"imbalance,":[72],"as":[73],"many":[74],"trajectories":[76],"are":[77],"overly":[78],"aggressive":[79],"stable-locomotion":[81],"scenarios,":[82],"necessitating":[83],"extensive":[84],"filtering":[86],"augmentation.":[88],"To":[89],"address":[90],"this,":[91],"we":[92],"present":[93],"Composite":[94],"Whole-Body":[95],"Imitation":[96],"(CWI),":[97],"a":[98,163,168,190],"framework":[99],"decouples":[101],"use":[103],"of":[104,123],"manipulation":[109,125],"lower-body":[111,130],"locomotion.":[112],"decoupling":[114],"allows":[115],"us":[116],"exploit":[118],"full":[120],"diverse":[124],"references,":[126],"while":[127],"stable,":[128],"command-conditioned":[129],"guided":[133],"by":[134],"dual":[135],"discriminators":[136],"on":[138,173,189],"curated":[139],"expert-quality":[140],"walking":[141],"squatting":[143],"clips":[144],"an":[146],"Adversarial":[147],"Motion":[148],"Prior":[149],"(AMP).":[150],"A":[151,211],"multi-critic":[152],"architecture":[153],"reduces":[154],"conflicts":[155],"among":[156],"locomotion,":[157],"manipulation,":[158],"motion-style":[160],"objectives,":[161],"teacher--student":[164],"distillation":[165],"stage":[166],"yields":[167],"policy":[170],"conditioned":[171],"only":[172],"bimanual":[174],"hand":[175],"poses":[176],"velocity/height":[178],"commands.":[179],"We":[180],"evaluate":[181],"CWI":[182],"through":[183],"simulation":[184],"experiments":[185],"real-world":[187],"deployment":[188],"full-size":[191],"LimX":[192],"Oli":[193],"humanoid.":[194],"The":[195],"results":[196],"show":[197],"competitive":[198],"loco-manipulation":[199],"performance,":[200],"robust":[201],"coordination,":[203],"practical":[205],"teleoperation":[206],"equipment.":[210],"project":[212],"page":[213],"supplementary":[215],"material":[216],"can":[217],"be":[218],"found":[219],"at":[220],"https://cwi-ral.github.io/CWI-RAL-Webpage.":[221]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-30T00:00:00"}
