Ziping Chen | Searcharxiv

arXiv2026

HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction

We propose HODAgent, a System-2 embodied agent for humanoid robots in service settings, addressing situated intent, responsive execution, task revision, and outcome verification. Its semi-duplex architecture integrates an Env-Interactor, Planner, Executor, and hierarchical Memory to maintain coherent interaction, planning, and task state during service episodes. This allows handling new requests during motion, retaining progress, revising actions, and grounding closure in execution outcomes. A shared interface connects simulation and physical robots (Unitree G1), isolating platform-specific control. In an interactive simulation with 164 cases, HODAgent achieves 84.8% and 91.5% Joint Success under two VLM backbones, outperforming baselines by 9.8 and 18.9 points. On physical robots, pass rates are 92% (atomic), 72% (composite), and 63.3% (complete tasks). On multiple embodied benchmarks, it improves over baselines by 0.7-9.0 points. Results show a unified System-2 agent enables adaptive humanoid service across simulation and reality.

cs.RO↗

arXiv2025

Multimodal Fusion Network for Micro-displacement Measurement via Michelson Interferometer

We propose a multimodal fusion network (MFN) for precise micro-displacement measurement using a modified Michelson interferometer. The model resolves the intrinsic half-wave displacement ambiguity that limits conventional single-wavelength interferometry by introducing a dual-head learning mechanism: one head performs sub-half-wave displacement regression, and the other classifies integer interference orders. Unlike dual-wavelength or iterative fitting methods, which require high signal quality and long computation time, MFN achieves robust, real-time prediction directly from interferometric images. Trained on 2x10^5 simulated interferograms and fine-tuned with only about 0.24% of real experimental data (about 500 images), the model attains a displacement precision of 4.84(15) nm and an order-classification accuracy of 98%. Even under severe noise, MFN maintains stable accuracy (about 16 nm RMSE), whereas conventional heuristic algorithms exhibit errors exceeding 100 nm. These results demonstrate that MFN offers a fast, noise-tolerant, and cost-efficient solution for single-wavelength interferometric metrology, eliminating the need for multi-wavelength hardware or complex phase fitting.

physics.optics↗