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cs.RO2026
Inertially Significant Humanoid Teleoperation via Whole Body Model Predictive Control and Online Parameter Estimation
James Foster, Beomyeong Park, Luigi Penco +1
The effective deployment of humanoid robots in practical tasks of interest will require a capability of sensing and adapting to variations in inertial parameters, as occurs during…
cs.RO2026
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery
Nehar Poddar, Stephen McCrory, Luigi Penco +3
Humanoid robots remain vulnerable to falls and unrecoverable failure states, limiting their practical utility in unstructured environments. While reinforcement learning has demonst…