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cs.RO2026
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
Bofan Lyu, Jindou Jia, Kuangji Zuo +7
Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts introduce unexpected disturbances that disrupt locomotion accuracy an…
cs.RO2026
EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots
Yanshuo Lu, Yuxuan Hu, Shenghai Yuan +5
Falls are one of the leading causes of injury and hospitalization among elderly individuals, making reliable fall awareness an essential capability for safety monitoring in residen…
cs.RO2026
RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids
Xichen Yuan, Zhe Li, Bofan Lyu +4
While generative models have become effective at producing human-like motions from text, transferring these motions to humanoid robots for physical execution remains challenging. E…