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cs.RO2026
Locomotion-Grounded Humanoid Soccer: Task-Gated Reinforcement Learning of a Multi-Directional Kicking Library
Abu Hanif Muhammad Syarubany, Jaehyun Jang, Hwanhee Kim +3
Recent humanoid soccer systems make motion tracking the substrate and derive locomotion from it, typically by steering a motion-reference anchor toward the ball. This yields strong…
cs.RO2026
EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulation
Abu Hanif Muhammad Syarubany, Chang D. Yoo
Visuomotor policies for humanoid loco-manipulation must generalize across object poses and lighting from only a handful of demonstrations. 3D Diffusion Policy (DP3) conditions a di…