Natural teaching for humanoid robot via human-in-the-loop scene-motion cross-modal perception. - Wenbin Xu; Xudong Li 002; Liang Gong; Yixiang Huang; Zeyuan Zheng; Zelin Zhao; Lujie Zhao; Binhao Chen; Haozhe Yang; Li Cao; Chengliang Liu 001 (Ind. Robot, 2019)