3 papers
cs.RO2026
QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
Hanze Hu, Luying Feng, Silu Chen +6
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise d…
cs.RO2026
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
Wandong Sun, Luying Feng, Baoshi Cao +3
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures t…
cs.RO2026
Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits
Luying Feng, Yaochu Jin, Hanze Hu +1
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning…