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cs.RO2026
DUET: Decoupled Upper- and Lower-Body Execution for Task-Agnostic Humanoid Loco-Manipulation
Kapalik Khanal, Biswash Khatiwada, Stephen Afrifa +2
Changing a humanoid robot's manipulation policy should not require retraining the controller that maintains the robot's balance. This study introduces DUET, a decoupled execution f…
cs.RO2026
AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization
Cheng Chen, Jerry Bai, Jiacheng Wei +11
Collecting contact-rich robot experiences at scale remains a major bottleneck for generalizable manipulation. Beyond data quantity, robot learning also requires diverse experiences…