3 papers
cs.RO2026
TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion
Thanh Ly, Truong-Duy Dang, Chien Le +5
Foothold selection on structured terrain requires explicit reasoning about contact planarity, surface steepness, and kinematic reachability, properties not captured by a single hei…
cs.RO2025
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
Yuxuan Kuang, Haoran Geng, Amine Elhafsi +5
Humanoid robots hold significant potential in accomplishing daily tasks across diverse environments thanks to their flexibility and human-like morphology. Recent works have made si…
cs.RO2025
Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control
Tan-Dzung Do, Nandiraju Gireesh, Jilong Wang +1
Articulated object manipulation poses a unique challenge compared to rigid object manipulation as the object itself represents a dynamic environment. In this work, we present a nov…