3 papers
cs.RO2026
Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity
Thanh Ly, Chien Le, Truong-Duy Dang +4
State-of-the-art perceptive humanoid locomotion is mostly built on retargeted motion capture, a generative motion prior, and a distillation stage. We report a complete system that…
cs.RO2026
CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets
Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong +4
Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on e…
cs.RO2026
TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion
Thanh Ly, Truong-Duy Dang, Chien Le +5
Foothold selection on structured terrain requires explicit reasoning about contact planarity, surface steepness, and kinematic reachability, properties not captured by a single hei…