3 papers
cs.RO2026
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
Zhaoyuan Gu, Yipu Chen, Zimeng Chai +12
Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon…
cs.RO2025
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…
cs.RO2025
SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bed Bathing Assistance
Fukang Liu, Kavya Puthuveetil, Akhil Padmanabha +3
Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle car…