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cs.RO2026
CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments
Tan-Dzung Do, Tuan Dat Phuong, Nico Bohlinger +6
Behavior Foundation Models (BFMs) give humanoids a promptable policy over a latent behavior space, enabling one single vector to represent a motion to imitate, a pose to reach, or…
cs.RO2026
CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets
Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong +4
Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on e…