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cs.RO2026
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
Hongming Chen, Zhuoran Li, Hongxi Wang +9
Existing humanoid whole-body control systems still fall short of the way humans move through cluttered terrain: they either track expressive whole-body references without terrain g…
cs.RO2026
Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
Yixuan Pan, Ruoyi Qiao, Li Chen +8
Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in l…
cs.RO2025
Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning
Chunxin Zheng, Kai Chen, Zhihai Bi +5
Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-eff…