Jiakun Zheng — accepted AI-conference papers

2026

Kungfubot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control

Jinrui Han, Weiji Xie, Jiakun Zheng, Jiyuan Shi, Weinan Zhang, Ting Xiao +1

ICRA 2026poster

Learning versatile whole-body skills by tracking various human motions is a fundamental step toward general-purpose humanoid robots. This task is particularly challenging because a single policy must master a broad repertoire of motion skills while ensuring stability over long-horizon sequences. To …

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2025

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills

Weiji Xie, Jinrui Han, Jiakun Zheng, Huanyu Li, Xinzhe Liu, Jiyuan Shi +3

NeurIPS 2025poster

Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper presents a physics-based humanoid control framework, aiming to…

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