2 papers
cs.RO2026
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang +5
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objec…
cs.RO2025
Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments
Gangyang Li, Hongzhe Shi, Qing Shi +5
Maintaining whole-body stability and motion tracking under large interaction forces remains challenging for humanoids. We present Thor, a reinforcement learning framework for force…