Sirui Chen — Papers on Cortexa

arxivcs.ROcs.AIcs.GReess.SY2026-06-29

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

Yen-Jen Wang, Jiaman Li, Sirui Chen, Takara E. Truong, Pei Xu, Pieter Abbeel, et al.

Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egocentric images, language commands, and robot-compatible kinematic trajectories, yet no existing data…

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arxivcs.ROcs.AI2026-06-25

SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

Sirui Chen, Shibo Zhao, Zhen Wu, Jiaman Li, Guanya Shi, C. Karen Liu

Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich tasks, as pure kinematic tracking cannot resolve the physical ambiguities of interacting with objects and uneven terrain. To address this, we introduce SceneBot, a unified…

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