8 papers
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
Lizhi Yang, Junheng Li, Nehar Poddar +5
For a humanoid robot to be deployed in the real world, the choice of command space (i.e., the interface between task planning and whole-body control) is crucial. Existing whole-bod…
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…
Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation
Stephen McCrory, Romeo Orsolino, Dhruv Thanki +2
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using…
Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
Luigi Penco, Beomyeong Park, Stefan Fasano +7
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a…
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Zhaoyuan Gu, Junheng Li, Wenlan Shen +15
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine lear…
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
Sergi Martinez, Robert J. Griffin, Carlos Mastalli
Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in…