2 papers
cs.RO2026
Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control
Kai Pfeiffer, Quan Zhang, Yuqing Chen +4
This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control…
cs.RO2026
SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids
Xingzhou Chen, Xiayan Xu, Yan Ning +8
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridg…