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cs.RO2026
CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments
Tan-Dzung Do, Tuan Dat Phuong, Nico Bohlinger +6
Behavior Foundation Models (BFMs) give humanoids a promptable policy over a latent behavior space, enabling one single vector to represent a motion to imitate, a pose to reach, or…
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…