arXiv subjects

Hanyang Cao

Publications and source records attributed to Hanyang Cao.

4 recordsLinked to original sources

arXiv2026

Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence

Humanoid learning increasingly relies on transforming vast and diverse human motion data into high-quality robot reference trajectories. However, retargeting human motion to humanoid robots is challenging due to substantial differences in morphology, degrees of freedom, joint ranges, and kinematic constraints between humans and robots. Existing retargeting methods typically address these differences by defining human-robot correspondence through hand-crafted sparse keypoints or body-part pairs. As a result, retargeting quality depends heavily on manual semantic design, limiting scalability across motion sources and robot morphologies and providing only sparse guidance for reproducing detailed poses and interactions. In this paper, we present Unified Motion Retargeting (UMR), a framework that learns dense point cloud correspondence without requiring manually designed human-robot mappings. By treating exterior point clouds as a unified interface between human motion and humanoid robots, UMR decouples retargeting from source-specific skeletal semantics and robot-specific topology. The learned dense correspondence provides fine-grained geometric anchors for constrained point cloud matching optimization, enabling surface-level pose alignment and direct transfer of interaction contacts. Experiments demonstrate that UMR unifies retargeting across heterogeneous motion sources, robot embodiments, and downstream scenarios ranging from locomotion to interaction, while achieving higher motion fidelity and plausibility than state-of-the-art methods. UMR therefore provides a scalable foundation for transforming large-scale human motion references into robot-ready training data.

cs.RO↗

arXiv2026

PFM-HR: Pose Flow Matching for Humanoid Robots

Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for policy-induced pose transitions. We present Pose Flow Matching for Humanoid Robots (PFM-HR), a reusable flow matching prior trained directly on large scale unordered pose data. PFM-HR introduces the Pose Geometry Score (PGS), which quantifies how joint coordinate changes during rollouts align with the local geometry of pose variation captured by the prior. Using PGS to modulate the tracking reward guides policy exploration toward structured pose changes while keeping the prior frozen across tracking tasks. Experiments demonstrate that PFM-HR improves both single motion and general motion tracking, especially for highly dynamic motions.

cs.RO↗

arXiv2026

Learning Context-Aware Motion Priors for Humanoid Control

Motion priors provide powerful guidance for learning naturalistic humanoid behaviors. However, existing methods typically learn a general, task-agnostic prior from the entire reference dataset and apply it uniformly throughout policy training. As a result, the prior cannot distinguish which reference motions are relevant to the current task context, potentially providing irrelevant or conflicting guidance. We present Context-Aware Motion Priors (CMP), a framework that adapts a general motion prior to the current task context without manual skill labels, dataset partitioning, or a separate skill discovery stage. Specifically, CMP learns context-motion compatibility using high-advantage policy rollouts, while a demonstration-based objective keeps the learned relevance grounded in the reference distribution. The resulting relevance scores reweight reference supervision for training a lightweight context-conditioned adapter. To evaluate the effectiveness and generality of CMP, we instantiate it with both Adversarial Motion Priors and Score-Matching Motion Priors. Across five humanoid control tasks, CMP consistently improves task performance and sample efficiency, learns meaningful context-motion alignment, and remains robust to imbalanced reference distributions. These results show that adapting motion priors to task contexts provides more relevant guidance for humanoid policy learning.

cs.RO↗

arXiv2024

FinEval: A Chinese Financial Domain Knowledge Evaluation Benchmark for Large Language Models

Large language models have demonstrated outstanding performance in various natural language processing tasks, but their security capabilities in the financial domain have not been explored, and their performance on complex tasks like financial agent remains unknown. This paper presents FinEval, a benchmark designed to evaluate LLMs' financial domain knowledge and practical abilities. The dataset contains 8,351 questions categorized into four different key areas: Financial Academic Knowledge, Financial Industry Knowledge, Financial Security Knowledge, and Financial Agent. Financial Academic Knowledge comprises 4,661 multiple-choice questions spanning 34 subjects such as finance and economics. Financial Industry Knowledge contains 1,434 questions covering practical scenarios like investment research. Financial Security Knowledge assesses models through 1,640 questions on topics like application security and cryptography. Financial Agent evaluates tool usage and complex reasoning with 616 questions. FinEval has multiple evaluation settings, including zero-shot, five-shot with chain-of-thought, and assesses model performance using objective and subjective criteria. Our results show that Claude 3.5-Sonnet achieves the highest weighted average score of 72.9 across all financial domain categories under zero-shot setting. Our work provides a comprehensive benchmark closely aligned with Chinese financial domain.

cs.CL↗