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Research notes and perspectives from the LeCAR Lab.

2026

Beyond Motion Tracking: Steerable Physical Interaction Competence

October 18, 2026Haoyang Weng

As spatial grounding (of S1/2) improves, we need dynamics-grounded controllers (S0) and expressive interfaces that let S1/2 steer physical interaction.

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Timeline: The story behind FADA

September 14, 2026Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare, Alan Wang, Max Simchowitz, and Guanya Shi

How a sequence of adaptation ideas led from finetuning dynamics representations to adapting the execution module of a humanoid controller.

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