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cs.RO2026
STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots
Yuanzhuo Li, Wen Zhao, Zhe Yong +6
Humanoid loco-manipulation faces two prominent limitations: controllers using continuous velocity commands cannot precisely regulate individual footholds, while specialized foothol…
cs.RO2026
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Pihai Sun, Gang Han, Jingkai Sun +17
Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies become fragile as perception and control errors accumulate. We pres…
cs.RO2026
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Qiang Zhang, Jiahao Ma, Peiran Liu +20
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-l…