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cs.RO2026
Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity
Weizhe Ni, Jinzhou Li, Haoyu Li +3
Robotic manipulation dexterity is often pursued by building increasingly complex high-DoF multifingered hands. While many robotic hands are designed to replicate human morphology,…
cs.RO2026
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
Xinyuan Luo, Xingrui Chen, Xunjian Yin +6
Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich…
cs.RO2026
HiPolicy: Hierarchical Multi-Frequency Action Chunking for Policy Learning
Jiyao Zhang, Zimu Han, Junhan Wang +7
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action c…