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Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture
Seungho Yeom, Zhenyu Wu, Jaeyoung Huh +4
Most humanoid loco-manipulation controllers require human motion data to learn whole-body coordination and posture, leaving policies reliant on external sources to provide this dat…
Physical Twins: Accelerating and Enabling Robot Learning with Phantom Platforms
Elizabeth Peiros, Derek Chen, Lucas Yager +4
Improvements in human-robot physical interaction (pHRI) can have major implications for physical therapy, search and rescue, and telemedicine. However, a major challenge concerns h…
Humanoids for Robot-Assisted Surgery: Bimanual Base Placement and Tool-Mount Optimization via Capability Maps
Peihan Zhang, Zekai Liang, Florian Richter +4
Rapid advances in humanoid robotics have motivated growing interest in the application of humanoids for healthcare and clinical tasks. However, it remains unclear how close contemp…
In vivo feasibility study of humanoid robots in surgery
Zekai Liang, Nikita Thareja, Peihan Zhang +7
Recent advances in actuation, control and learning have rapidly pushed humanoid robots from a distant vision towards near-term real-world deployment. Healthcare is a particularly p…
Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands
Soofiyan Atar, Yao-Ting Huang, Michael Yip
Dexterous grasping depends on contact regulation, not motion alone. Stable manipulation requires fingers to maintain appropriate object loading as contacts slip, deform, or become…
SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
Anlun Huang, Zhenyu Wu, Soofiyan Atar +2
Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion remains a critical engineering bottleneck for humanoids in unstructured environments.…