arXiv subjects

Huayi Wang

Publications and source records attributed to Huayi Wang.

At least 19 recordsLinked to original sources

arXiv2026

Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking

Humanoid robots have recently demonstrated promising capabilities in real-world ball sports. However, achieving professional motion styles while maintaining strong task performance remains challenging. In this work, we propose AdaPT, an Adaptive Motion Planning and Tracking framework that learns professional tennis serving and rally styles directly from broadcast videos. This hierarchical design is motivated by the key insight that the planner generates stylistic kinematic motions, while the tracker executes them with minimal interference with planning. Despite its effectiveness in simulation, a substantial sim-to-real gap emerges: tracking performance inevitably degrades on real robots, and this degradation is partially overlooked by autoregressive planning and further compounded by noisy perception. To address these issues, our adaptation mechanism improves tracking robustness by learning to track randomized execution speeds, while conditioning the planner on a learned motion-speed adapter to mitigate compounding errors. Real-world experiments on the Unitree G1 demonstrate the effectiveness of our adaptation mechanism in bridging the sim-to-real gap. We further deploy AdaPT policies on the full-size Dobot Atom humanoid robot (1.7m) and demonstrate in-the-wild serving without motion capture. Beyond these results, our real-world experiments reveal both algorithmic and engineering insights for future humanoid ball-sports systems. Videos and code are available on our \href{https://humanoidtennis.github.io/AdaPT/}{project website}.

cs.RO↗

arXiv2026

Query-Centric Optimization of AI Workflows via Approximate Query Processing and Proxy Models

Many modern AI workflows, ranging from LLM post-training pipelines to agentic reasoning tasks, can be expressed as declarative queries whose expensive predicate is evaluated by a large model or reward function. We propose a query-centric formulation of these workflows and show that classical database techniques, namely approximate query processing (AQP) and proxy-model (PM) based filtering, can substantially reduce the number of expensive model invocations without requiring changes to the underlying models or pipelines. Our first strategy treats the workflow as an online aggregation problem: it progressively samples records, maintains a running aggregate estimate with a confidence interval, and terminates early once the interval stabilizes, accepting the estimate when it falls within a user-specified error bound. Our second strategy trains a lightweight, CPU-resident decision tree on a small set of oracle-labeled examples and uses it to pre-filter records whose outcome can be predicted with high confidence, routing only uncertain records to the expensive model. We evaluate both strategies on TPC-DS aggregate queries and on real LLM post-training pipelines including math reasoning, general instruction following, and code generation. On TPC-DS, Strategy AQP keeps aggregate error under 10% while reaching its adaptive stopping point at 10-15% of oracle calls under balanced distributions, an 85-90% reduction, and Strategy PM reduces oracle calls by 60-70%. On LLM pipelines, Strategy AQP reaches its adaptive stopping point at 20-50% of oracle calls with less than 5% accuracy loss on the structured math and code tasks; open-ended instruction following, scored by a reward model, shows a larger but bounded reduction. Strategy PM reduces reward-model scoring time by up to 19x on structured tasks with less than 10% accuracy loss.

cs.DB↗

arXiv2026

ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control

While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to environmental shifts and incapable of reactive whole-body coordination. Naively cascading them with generative motion planners fails to achieve true reactivity, as inevitable tracking discrepancies induce fatal cumulative exposure bias. To bridge this gap, we propose ReactiveBFM, a real-time closed-loop planning-control framework. At its core, we effectively mitigate exposure bias via a scheduled prefix sampling curriculum, forcing the generative planner to actively learn error-recovery behaviors from imperfect physical states rather than ground-truth trajectories. Systematically, to reconcile the severe latency mismatch between auto-regressive planning and high-frequency tracking, we introduce an asynchronous replanning mechanism. Combined with trajectory chunking to temporally ensemble spatial references, our system guarantees spatio-temporally fluid execution without physical jitter. Deployed on the Unitree G1 humanoid, ReactiveBFM demonstrates unprecedented physical agility across a vast repertoire of text-conditioned closed-loop motions. Notably, ReactiveBFM achieves zero-shot moving target reaching, showcasing intricate whole-body coordination and on-the-fly replanning. In sim-to-sim benchmarking under severe perturbations, ReactiveBFM achieves a 93.1% success rate, significantly outperforming cascaded open-loop baselines by 28.6%.

cs.RO↗

arXiv2026

OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation

Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust execution of meta-skills but also their seamless, closed-loop chaining equipped with autonomous recovery. Existing approaches remain limited: explicit humanoid-object interaction representations offer precision but are notoriously difficult for high-level planning, whereas implicit skill embeddings are compact but lack the interpretability required for reliable composition. We propose \ours, a hierarchical framework centered on \textbf{contact flow (CF)}, a compact representation consisting of key body trajectories and time-series binary contact signals. Leveraging this shared interface, our low-level policy \textbf{CF-Track} learns a unified library of loco-manipulation skills, while our high-level module \textbf{CF-Gen} heuristically synthesizes future contact-flow sequences. To support this setting, we additionally collect the OmniContact dataset, a MoCap-based HOI corpus for humanoid loco-manipulation (Appendix~\ref{sec:dataset}). Together, they enable robust execution, autonomous failure recovery, and flexible composition of meta-skills for long-horizon tasks. Experiments show that OmniContact achieves $98.7\%$ success on \textit{Carry Box} and $76.5\%$ on \textit{Push-Stack Boxes}, outperforming prior baselines by average margins of $40.9\%$ in meta-skill and $66.5\%$ in skill chaining. Besides, our framework naturally integrates with VLMs for semantic task decomposition, enabling complex, semantically grounded loco-manipulation behaviors, such as arranging scattered boxes into a heart shape.

cs.RO↗

arXiv2026

HDMoE: A Hierarchical Decoupling-Fusion Mixture-of-Experts Framework for Multimodal Cancer Survival Prediction

Multimodal survival prediction, a crucial yet challenging task, demands the integration of multimodal medical data (\eg Whole Slide Images (WSIs) and Genomic Profiles) to achieve accurate prognostic modeling. Given the inherent heterogeneity across modalities, the feature decoupling-fusion paradigm has emerged as a dominant approach. However, these methods have the following shortcomings: (1) fail to reduce the redundant information of modality features before decoupling, which negatively affects the feature decoupling and fusion effect;(2) lack the ability to model the fine-grained relationships of the features and capture the local information interactions between intra- and inter-modality features. To address these issues, we propose a \underline{H}ierarchical \underline{D}ecoupling-Fusion \underline{M}ixture-\underline{o}f-\underline{E}xperts (HDMoE) framework with two levels of MoE and \underline{R}andom \underline{F}eature \underline{R}eorganization (RFR) modules.In the first-level MoE, shared experts and routed experts are employed to remove redundant information and extract fine-grained specific features within each modality, while the second-level MoE facilitates fine-grained inter-modality feature decoupling. Besides, we design two RFR modules following each level of MoE to finely fuse intra- and inter-modality features, which can help the model capture more fine-grained relationships between modalities. Extensive experimental results on our private Liver Cancer (LC) and three TCGA public datasets confirm the effectiveness of our proposed method. Codes are available at https://github.com/ZJUMAI/HDMoE.

cs.CV↗

arXiv2026

U-HNSW: An Efficient Graph-based Solution to ANNS Under Universal Lp Metrics

Approximate nearest neighbor search under universal L_p metrics (ANNS-U-L_p) is an important and challenging research problem, as it requires answering queries under all possible p (0<p <= 2) values simultaneously without building an index for each possible p value. The state-of-the-art solution, called MLSH, is a Locality-Sensitive Hashing (LSH)-based ANNS method with barely acceptable query performance. In contrast, graph-based ANNS methods, which offer significantly improved query efficiency on the ANNS-L_p problem (with a fixed p-value), cannot be naively extended to the ANNS-U-$L_p$ problem. In this paper, we propose U-HNSW, the first graph-based method for ANNS-U-L_p. Our scheme uses HNSW graph indexes built on two base metrics ($L_1$ and $L_2$) to generate promising nearest neighbors candidates, and then verifies these candidates with an early-termination strategy that substantially reduces the number of expensive L_p distance computations. Experimental results show that U-HNSW not only achieves up to 2670 times shorter query times than the original MLSH implementation running on a RAM disk (up to 15 times shorter than the idealized MLSH), but also outperforms the original HNSW on the ANNS-L_p problem (with a fixed p-value), except for a few special p values.

cs.DB↗

arXiv2026

Learning Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high motion accuracy under nominal conditions, their robustness and responsiveness often degrade in the presence of disturbances and modeling uncertainties. This work investigates reinforcement learning for omnidirectional aerial motion control on over-actuated tiltable quadrotors that prioritizes robustness and agility. We present a learning-based control framework that enables efficient acquisition of coordinated rotor-joint behaviors for reaching target poses in the $SE(3)$ space. To achieve reliable sim-to-real transfer while preserving motion accuracy, we integrate system identification with minimal and physically consistent domain randomization. Compared with a state-of-the-art NMPC controller, the proposed method achieves comparable six-degree-of-freedom pose tracking accuracy, while demonstrating superior robustness and generalization across diverse tasks, enabling zero-shot deployment on real hardware.

cs.RO↗

arXiv2025

Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints

We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two critical challenges: (1) generating natural, human-like whole-body motions, and (2) covering a wider guarding range with an equivalent response time. Unlike existing approaches that rely on separate teleoperation or fixed motion tracking for whole-body control, our method learns a single end-to-end RL policy, enabling fully autonomous, highly dynamic, and human-like robot-object interactions. To achieve this, we integrate multiple human motion priors conditioned on perceptual inputs into the RL training via an adversarial scheme. We demonstrate the effectiveness of our method through real-world experiments, where the humanoid robot successfully performs agile, autonomous, and naturalistic interceptions of fast-moving balls. In addition to goalkeeping, we demonstrate the generalization of our approach through tasks such as ball escaping and grabbing. Our work presents a practical and scalable solution for enabling highly dynamic interactions between robots and moving objects, advancing the field toward more adaptive and lifelike robotic behaviors.

cs.RO↗

arXiv2025

Towards Adaptable Humanoid Control via Adaptive Motion Tracking

Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice imitation accuracy, whereas motion-tracking methods achieve accurate imitation yet require many training motions and a test-time target motion to adapt. To combine their strengths, we introduce AdaMimic, a novel motion tracking algorithm that enables adaptable humanoid control from a single reference motion. To reduce data dependence while ensuring adaptability, our method first creates an augmented dataset by sparsifying the single reference motion into keyframes and applying light editing with minimal physical assumptions. A policy is then initialized by tracking these sparse keyframes to generate dense intermediate motions, and adapters are subsequently trained to adjust tracking speed and refine low-level actions based on the adjustment, enabling flexible time warping that further improves imitation accuracy and adaptability. We validate these significant improvements in our approach in both simulation and the real-world Unitree G1 humanoid robot in multiple tasks across a wide range of adaptation conditions. Videos and code are available at https://taohuang13.github.io/adamimic.github.io/.

cs.RO↗

arXiv2025

PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System

Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability individually, combining them in a unified system is still an ongoing challenge. In this work, we present a physical-world humanoid-scene interaction system, PhysHSI, that enables humanoids to autonomously perform diverse interaction tasks while maintaining natural and lifelike behaviors. PhysHSI comprises a simulation training pipeline and a real-world deployment system. In simulation, we adopt adversarial motion prior-based policy learning to imitate natural humanoid-scene interaction data across diverse scenarios, achieving both generalization and lifelike behaviors. For real-world deployment, we introduce a coarse-to-fine object localization module that combines LiDAR and camera inputs to provide continuous and robust scene perception. We validate PhysHSI on four representative interactive tasks--box carrying, sitting, lying, and standing up--in both simulation and real-world settings, demonstrating consistently high success rates, strong generalization across diverse task goals, and natural motion patterns.

cs.RO↗

arXiv2025

Decouple, Reorganize, and Fuse: A Multimodal Framework for Cancer Survival Prediction

Cancer survival analysis commonly integrates information across diverse medical modalities to make survival-time predictions. Existing methods primarily focus on extracting different decoupled features of modalities and performing fusion operations such as concatenation, attention, and \revm{Mixture-of-Experts (MoE)-based fusion. However, these methods still face two key challenges: i) Fixed fusion schemes (concatenation and attention) can lead to model over-reliance on predefined feature combinations, limiting the dynamic fusion of decoupled features; ii) in MoE-based fusion methods, each expert network handles separate decoupled features, which limits information interaction among the decoupled features. To address these challenges, we propose a novel Decoupling-Reorganization-Fusion framework (DeReF), which devises a random feature reorganization strategy between modalities decoupling and dynamic MoE fusion modules.Its advantages are: i) it increases the diversity of feature combinations and granularity, enhancing the generalization ability of the subsequent expert networks; ii) it overcomes the problem of information closure and helps expert networks better capture information among decoupled features. Additionally, we incorporate a regional cross-attention network within the modality decoupling module to improve the representation quality of decoupled features. Extensive experimental results on our in-house Liver Cancer (LC) and three widely used TCGA public datasets confirm the effectiveness of our proposed method. Codes are available at https://github.com/ZJUMAI/DeReF.

cs.CV↗

arXiv2025

OddEEC: A New Sketch Technique for Error Estimating Coding

Error estimating coding (EEC) is a standard technique for estimating the number of bit errors during packet transmission over wireless networks. In this paper, we propose OddEEC, a novel EEC scheme. OddEEC is a nontrivial adaptation of a data sketching technique named Odd Sketch to EEC, addressing new challenges therein by its bit sampling technique and maximum likelihood estimator. Our experiments show that OddEEC overall achieves comparable estimation accuracy as competing schemes such as gEEC and mEEC, with much smaller decoding complexity.

cs.NI↗

arXiv2025

VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception

The performance of legged locomotion is closely tied to the accuracy and comprehensiveness of state observations. Blind policies, which rely solely on proprioception, are considered highly robust due to the reliability of proprioceptive observations. However, these policies significantly limit locomotion speed and often require collisions with the terrain to adapt. In contrast, Vision policies allows the robot to plan motions in advance and respond proactively to unstructured terrains with an online perception module. However, perception is often compromised by noisy real-world environments, potential sensor failures, and the limitations of current simulations in presenting dynamic or deformable terrains. Humanoid robots, with high degrees of freedom and inherently unstable morphology, are particularly susceptible to misguidance from deficient perception, which can result in falls or termination on challenging dynamic terrains. To leverage the advantages of both vision and blind policies, we propose VB-Com, a composite framework that enables humanoid robots to determine when to rely on the vision policy and when to switch to the blind policy under perceptual deficiency. We demonstrate that VB-Com effectively enables humanoid robots to traverse challenging terrains and obstacles despite perception deficiencies caused by dynamic terrains or perceptual noise.

cs.RO↗

arXiv2025

BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds

Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing learning-based approaches often struggle on such complex terrains due to sparse foothold rewards and inefficient learning processes. To address these challenges, we introduce BeamDojo, a reinforcement learning (RL) framework designed for enabling agile humanoid locomotion on sparse footholds. BeamDojo begins by introducing a sampling-based foothold reward tailored for polygonal feet, along with a double critic to balancing the learning process between dense locomotion rewards and sparse foothold rewards. To encourage sufficient trial-and-error exploration, BeamDojo incorporates a two-stage RL approach: the first stage relaxes the terrain dynamics by training the humanoid on flat terrain while providing it with task-terrain perceptive observations, and the second stage fine-tunes the policy on the actual task terrain. Moreover, we implement a onboard LiDAR-based elevation map to enable real-world deployment. Extensive simulation and real-world experiments demonstrate that BeamDojo achieves efficient learning in simulation and enables agile locomotion with precise foot placement on sparse footholds in the real world, maintaining a high success rate even under significant external disturbances.

cs.RO↗

arXiv2025

Learning Humanoid Standing-up Control across Diverse Postures

Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook hardware constraints or rely on predefined ground-specific motion trajectories, failing to enable standing up across postures in real-world scenes. To bridge this gap, we present HoST (Humanoid Standing-up Control), a reinforcement learning framework that learns standing-up control from scratch, enabling robust sim-to-real transfer across diverse postures. HoST effectively learns posture-adaptive motions by leveraging a multi-critic architecture and curriculum-based training on diverse simulated terrains. To ensure successful real-world deployment, we constrain the motion with smoothness regularization and implicit motion speed bound to alleviate oscillatory and violent motions on physical hardware, respectively. After simulation-based training, the learned control policies are directly deployed on the Unitree G1 humanoid robot. Our experimental results demonstrate that the controllers achieve smooth, stable, and robust standing-up motions across a wide range of laboratory and outdoor environments. Videos and code are available at https://taohuang13.github.io/humanoid-standingup.github.io/.

cs.RO↗

arXiv2024

P3: A Policy-Driven, Pace-Adaptive, and Diversity-Promoted Framework for data pruning in LLM Training

In the rapidly advancing field of Large Language Models (LLMs), effectively leveraging existing datasets during fine-tuning to maximize the model's potential is of paramount importance. This paper introduces P3, an adaptive framework aimed at optimizing the task-specific fine-tuning process through iterative data pruning. P3 consists of three key components: (1) Policy-driven Difficulty Measurement, which dynamically assesses data difficulty based on the model's real-time performance, replacing static metrics with adaptable evaluations; (2) Pace-Adaptive Selection, leveraging self-paced learning to progressively introduce more challenging data, thereby enhancing model capability; (3) Diversity Promotion, incorporating Determinantal Point Process (DPP) to ensure data diversity across epochs, enriching the learning process. We validate P3 on the reasoning scenarios, APPS and MATH, demonstrating significant improvements over traditional data pruning methods. By advancing dynamic data selection and utilization strategies, P3 contributes both a theoretical framework and concrete approach to fully exploit existing data for LLMs' performance improvement, offering utility across diverse tasks.

cs.CL↗

arXiv2023

Rethinking Similarity Search: Embracing Smarter Mechanisms over Smarter Data

In this vision paper, we propose a shift in perspective for improving the effectiveness of similarity search. Rather than focusing solely on enhancing the data quality, particularly machine learning-generated embeddings, we advocate for a more comprehensive approach that also enhances the underpinning search mechanisms. We highlight three novel avenues that call for a redefinition of the similarity search problem: exploiting implicit data structures and distributions, engaging users in an iterative feedback loop, and moving beyond a single query vector. These novel pathways have gained relevance in emerging applications such as large-scale language models, video clip retrieval, and data labeling. We discuss the corresponding research challenges posed by these new problem areas and share insights from our preliminary discoveries.

cs.DB↗

arXiv2023

A Dyadic Simulation Approach to Efficient Range-Summability

Efficient range-summability (ERS) of a long list of random variables is a fundamental algorithmic problem that has applications to three important database applications, namely, data stream processing, space-efficient histogram maintenance (SEHM), and approximate nearest neighbor searches (ANNS). In this work, we propose a novel dyadic simulation framework and develop three novel ERS solutions, namely Gaussian-dyadic simulation tree (DST), Cauchy-DST and Random Walk-DST, using it. We also propose novel rejection sampling techniques to make these solutions computationally efficient. Furthermore, we develop a novel k-wise independence theory that allows our ERS solutions to have both high computational efficiencies and strong provable independence guarantees.

cs.DS↗