Jiahang Cao^{1 *}, Qiang Zhang^{1 *}, Ziqing Wang², Jingkai Sun¹, Jiaxu Wang¹, Hao Cheng¹,
Yecheng Shao⁴, Wen Zhao³, Gang Han³, Yijie Guo³, Renjing Xu^{1 †},

The Hong Kong University of Science and Technology (Guangzhou) ¹
Northwestern University ²
Beijing Innovation Center of Humanoid Robotics ³
Center for X-Mechanics, Zhejiang University ⁴