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cs.RO2026
ForPC: Force-Aware Whole-Body Control for Precise Humanoid Cart Pushing
ZhenYu Zou, Xing Liu, ShiChuang Wang +5
Humanoid robots are expected to take over strenuous material handling in manufacturing, logistics, and healthcare, where operating existing wheeled carts would let them move heavy…
cs.RO2026
Residual Fault Adaptation for Dexterous In-Hand Manipulation Under Runtime Joint Faults
Linan Deng, Xing Liu, Lin Hong +4
Dexterous in-hand manipulation requires coordinated control of multiple actuated joints, and a runtime joint fault can abruptly disrupt the contact configuration required for succe…