2 papers
cs.RO2026
Ctrl-F: Force as an Interface for Humanoid Loco-Manipulation
Mengjie Zhao, Yuxin Chen, Yiyang Shao +4
Humanoid motion tracking has scaled to general policies that reproduce diverse human motion, but the resulting behavior is in free-space: the tracker knows where the body should be…
cs.RO2026
Online Learning of Heterogeneous Locomotion Dynamics under Reinforcement Learning Policies for Precise Loco-Manipulation
Tianlin Zhang, Weipeng Xia, Lingwei Zhang +3
How to reuse a pretrained locomotion policy for precise loco-manipulation is still an open problem. We propose an online method to learn the closed-loop dynamics under a frozen loc…