2 papers
cs.RO2026
SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation
Jeonguk Kang, Hanbyel Cho, Sanghyun Kang +1
Humanoid loco-manipulation requires stable whole-body control under varying object masses and pickup/placement heights. This becomes particularly challenging in sim-to-real transfe…
cs.RO2026
SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
Hanbyel Cho, Sang-Hun Kim, Jeonguk Kang +1
Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physic…