3 papers
cs.RO2026
HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
Hao Zhang, Yaru Niu, Yikai Wang +2
To improve generalization and resilience in human-robot collaboration (HRC), robots must contend with diverse combinations of human behaviors and contexts, motivating multi-agent r…
cs.RO2026
Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
Hao Zhang, Ding Zhao, H. Eric Tseng
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-l…
cs.RO2026
Interaction-Aware Whole-Body Control for Compliant Object Transport
Hao Zhang, Yves Tseng, Ding Zhao +1
Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whol…