4 papers
Reactive Humanoid Multi-Contact Using Learned Stability Models
Stephen McCrory, Beomyeong Park, Nicholas Kitchel +2
We present a planning and control approach to reactively use hand contacts to stabilize a humanoid in low stability scenarios, where only using feet contacts may result in a fall.…
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
Lizhi Yang, Junheng Li, Nehar Poddar +5
Humanoid loco-manipulation benefits from one controller to coordinate locomotion, arm movements, and fall recovery. These behaviors are difficult to learn together from scratch bec…
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…
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…