Zewei Zhang retweeted
We only care about where our feet are about to land when we walk. Why shouldn’t humanoids?
Introducing Anticipated Perception for Humanoid Locomotion, anticipating upcoming footholds and perceiving only the terrain patches that matter for next step.👣
🌐 leggedrobotics.github.io/wat…
What does a humanoid need to look at to cross challenging terrain?
People only look around their next few planned steps. So we showed a humanoid only that.
Watch Your Step: Anticipated Perception for Humanoid Locomotion
🌐 leggedrobotics.github.io/wat…
📄 arxiv.org/abs/2610.29612
Zewei Zhang retweeted
Introducing Humanoid Mobility via Attention-based Contacts!
One policy enables diverse motions over challenging terrains without reference motions at deployment.
No manually designed transition motions
No skill switching mechanism
No manual data augmentation
13.2 minutes of data
Click a goal and go!
paper: tbd
website: leggedrobotics.github.io/ACP…
Zewei Zhang retweeted
With @JayHe748646 @KehanWen170077 @leggedrobotics , we push humanoid mobility to next frontier.
Achieved by a generalist contact planner + a generalist tracker + a generalized neural mapping, warmstarted from few human data.
Website: leggedrobotics.github.io/ACP…
Promo Video 👇
Totally agree
It is a new paradigm -- world model + APG. This enables 1000x faster training of generalist whole-body tracker. And opus 5.5 high can reproduce it within 1h for lafan.
Recently I wonder if we are turning dumb and falling into scaling slop. We need more @qiayuanliao .
Zewei Zhang retweeted
We found a way to scale humanoid control that reduces GPU-hours by more than 1000×.
Across 129,514 motions, SuperMimic surpasses the state of the art (128 GPUs, 7 days) with 1 GPU in 3 hours.
Project: supermimic.github.io
Demo: supermimic.github.io/demo/
Zewei Zhang retweeted
Another demo we did. This time I let Argon use the Spot. It went through the API, and even downloaded the SDK document to understand, and could quickly build a skill to pick up can and use it's foot to push the pedal to trash into a bin. Even it did the voice over to the video.
Zewei Zhang retweeted
I was doing this demo. In the beginning, I just prompted to connect to the robot and it figured out how to connect through ssh, and when I asked to move it's neck, it just went through the codebase and understood how to command each joint.
Zewei Zhang retweeted
Walking up stairs vs sprinting on slopes, which to learn first? When task difficulty isn’t obvious, handcrafting curriculum becomes challenging.
We tackle this with automatic curriculum and achieve the highest rough-terrain speed on ANYmal.
🔗sites.google.com/view/lp-acr…
🧵RAL 2026
Zewei Zhang retweeted
We are releasing EgoHTR, a dataset with both human motions and terrain references, accepted @corl_conf.
📖 Paper: lnkd.in/eeepUefs
🌐 Project Page: egohtr.github.io
• 55 scene-aligned sequences • 150k+ frames • rough-terrain environments • multi-modal 3D scene
Zewei Zhang retweeted
Introducing OM-1, our first robot foundation model, zero-shot generalizing to any robot: table-top arms, industrial arms and humanoids.
- learned directly from human manipulation data
- no teleop/robot data
- close to human-level dexterity and efficiency
- multi-robot collab
Zewei Zhang retweeted
What is the role of academic computer vision research in the age of increasingly powerful large models? Is GPT-6 Astra a step change? How can a researcher have an impact today in academia?
These are the questions I ask myself as I head off to ECCV 2026, a conference I’ve attended since 1992. One of my papers this year is VIGA, a method that takes an image as input and outputs a 3D Blender scene that represents that image. This is a classical inverse-graphics task and VIGA was the first method to solve it using an agentic approach.
The idea is now several years old and the first version of the paper was rejected. This delayed publication significantly. After it was accepted at ECCV, it was quickly surpassed by people using Claude Code for the same purpose. Today GPT-6 Astra blows away all previous results. But we still head off to ECCV to tell the community about our invention that is now fully out of date.
The way academic work often progresses is that one reads recent papers, notices that they have limitations, comes up with a new idea, explores this, publishes it, etc. Any published paper I read today is based on ideas that are at least a year old. And those ideas were based on the literature of the time, which was also a year old. That means that any paper I see at ECCV is likely two years out of date. In AI today, two years means your work is likely irrelevant.
At CVPR this summer I noticed that many authors have not gotten the message. They continue to work on “old” problems that have a long history. This history is based on assumptions about how the “vision problem” will be “solved”. The truth is that it is being solved in a very different way and many of these problems are no longer relevant. Another group of papers focuses on very niche problems where large models likely fail because of insufficient data or lack of business interest. The impactful papers were largely from industry and had long author lists and massive data+compute behind them. These papers were also out of data, describing systems that had been released months before, but at least they served to provide the community with more complete documentation and analysis of commercial systems.
So what should academics do? First, we need to put aside the tools we’ve used for years and start from scratch. Every project should start by trying really hard to solve the problem with existing tools. I would like to see every paper begin with a detailed experimental analysis of how existing models perform and why they fail (if they do). This gives the kind of insight we need today. Then, assuming current models fail, the solution should provide some fundamental insight that will outlive the next release of such models.
Reviewers today still focus on technical novelty. This pushes people to focus on tweaking architectures rather than clearly moving the field forward. Papers need to be judged based on their novel insight and not their novel technical contribution. This is a real shift in thinking but it focuses us on what matters - progress of the field.
If we want there to be a “field” of computer vision, then it can’t become a marginal backwater, focusing on esoteric problems. If you haven’t tried using Astra (or whatever comes next) to solve your problem, then you have not done your homework. This omission should be seen as negatively as not having a previous work section.
Concretely, I think papers should include a new section analogous to “Related Work” where that related work is current models and how they perform on the task. Reviewers should start asking for this and expecting authors to be able to articulate their insights about the limitations of existing large models.
I'm interested in your thoughts.
Zewei Zhang retweeted
New paper release: Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
Paper arxiv.org/pdf/2608.29769
Videos nemantor.github.io/sparse-3d…
We study how to do learning and sim2real for 3d traversal, such as monkey bars and overhanging obstacles.
Zewei Zhang retweeted
BeyondMimic is published in Science Robotics and it made the Science front page.
A follow-up paradigm shift that will solve the problem of humanoid whole-body control will be released soon. Stay tuned.
A humanoid robot can perform aerial cartwheels on uneven ground and land smoothly, thanks to a new framework called BeyondMimic. @qiayuanliao @TakaraTruong @KoushilSreenath
Learn more in Science #Robotics: scim.ag/4zWfMkO
Zewei Zhang retweeted
"A parcel with snacks has been delivered for Flexion. Retrieve it using the stairs and come up using the elevator. Then unpack it and place the items into the empty drawer on the shelf in the snack area."
One instruction. No human operator. Everything that follows is autonomous.
Today we're introducing Reflect v1.0, our robotics intelligence platform for long-horizon work. From a single natural-language command, the robot understands the task, navigates a multi-floor building, calls elevators, handles doors, uses tools to unpack a box, and puts the items away. The biggest shift in v1.0 is that we use reinforcement learning across every layer, from low-level control to high-level reasoning.
Long-horizon autonomy is unforgiving. The robot must recover on its own when things don't go to plan because in the real world, they never do. Combining reasoning, perception, physical execution and runtime robustness into a single mission-capable system is the foundation required to solve humanoid autonomy.
Our team is just getting started.
#HumanoidRobots #Flexion
Zewei Zhang retweeted
Accepted to RA-L in two months, the fastest turnaround I’ve experienced, which I’ll quietly take as a good sign for the work.
Huge congrats and thanks to the co-authors!
Diffusion-based planner + RL tracker = yyds
Excited to share our recent work on whole-body humanoid locomotion for challenging terrain traversal!
Diffusion-based planner + RL WBC = general purpose locomotion controller
Led by @ctki49 @mxu_cg @KehanWen170077 at @leggedrobotics and @xbpeng4.




















