Shengcheng Fu — accepted AI-conference papers

2026

HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation

Zhanxiang Cao, Liyun Yan, Yang Zhang, Sirui Chen, Jianming Ma, Tianyue Zhan +4

RSS 2026poster

Humanoid loco-manipulation requires executing precise manipulation tasks while maintaining dynamic stability amid base motion and impacts. Existing approaches typically formulate commands in body-centric frames, fail to inherently correct cumulative world-frame drift induced by legged locomotion. We…

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2026

MAKP: Multi-Mode Accurate Kicking Policy for Humanoid Robots

Zheng Zhang, Kaiyang Xu, Zhanxiang Cao, Yizhi Chen, Peng Wang, Haoyang Li +5

ICRA 2026poster

Humanoid robot soccer players face fundamental challenges in achieving stable motion execution and ball trajectory control, particularly under balance constraints during single-leg support phases. In this paper, we introduce MAKP (Multi-mode Accurate Kicking Policy), a novel motion generation-based …

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