Zirui Wang
Famous AuthorPublications
CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation
Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they typically operate in the robot's local frame and neglect global pose feedback, leading to drift and instability during extended execution. In this work, we present CLOT, a real-time whole-body humanoid teleoperation system that achieves closed-loop global motion tracking via high-frequency localization feedback. CLOT synchronizes operator and robot poses in a closed loop, enabling drift-free human-to-humanoid mimicry over long timehorizons. However, directly imposing global tracking rewards in reinforcement learning, often results in aggressive and brittle corrections. To address this, we propose a data-driven randomization strategy that decouples observation trajectories from reward evaluation, enabling smooth and stable global corrections. We further regularize the policy with an adversarial motion prior to suppress unnatural behaviors. To support CLOT, we collect 20 hours of carefully curated human motion data for training the humanoid teleoperation policy. We design a transformer-based policy and train it for over 1300 GPU hours. The policy is deployed on a full-sized humanoid with 31 DoF (excluding hands). Both simulation and real-world experiments verify high-dynamic motion, high-precision tracking, and strong robustness in sim-to-real humanoid teleoperation. Motion data, demos and code can be found in our website.
Why Does the LLM Stop Computing: An Empirical Study of User-Reported Failures in Open-Source LLMs
The democratization of open-source Large Language Models (LLMs) allows users to fine-tune and deploy models on local infrastructure but exposes them to a First Mile deployment landscape. Unlike black-box API consumption, the reliability of user-managed orchestration remains a critical blind spot. To bridge this gap, we conduct the first large-scale empirical study of 705 real-world failures from the open-source DeepSeek, Llama, and Qwen ecosystems. Our analysis reveals a paradigm shift: white-box orchestration relocates the reliability bottleneck from model algorithmic defects to the systemic fragility of the deployment stack. We identify three key phenomena: (1) Diagnostic Divergence: runtime crashes distinctively signal infrastructure friction, whereas incorrect functionality serves as a signature for internal tokenizer defects. (2) Systemic Homogeneity: Root causes converge across divergent series, confirming reliability barriers are inherent to the shared ecosystem rather than specific architectures. (3) Lifecycle Escalation: Barriers escalate from intrinsic configuration struggles during fine-tuning to compounded environmental incompatibilities during inference. Supported by our publicly available dataset, these insights provide actionable guidance for enhancing the reliability of the LLM landscape.