Whole-Body Control

Latest papers 42

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  1. HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids

    Oct 6, 2026An Dang, Arturo Flores Alvarez, Yu-Ming Chen +5Humanoid Loco-ManipulationWhole-Body Control

  2. Magnet-Aware Control of Legged Robots

    Oct 6, 2026J. Playan Garai, S. B. Djuve, C. McGreavy +1Robotic ControlLegged Robotics

  3. Reactive Humanoid Multi-Contact Using Learned Stability Models

    Sep 30, 2026Stephen McCrory, Beomyeong Park, Nicholas Kitchel +2Humanoid Robot LocomotionHumanoid Robot Control

  4. NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation

    Sep 30, 2026Xiangyu Miao, Junsong Wu, Jiyuan Shi +6Robot TeleoperationHumanoid Robot Control

  5. CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets

    Sep 27, 2026Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong +4RL for RoboticsHumanoid Robot Control

  6. Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator

    Sep 16, 2026Zhongyu Chen, Yuxuan Nai, Qian Chen +8RL for RoboticsHumanoid Loco-Manipulation

  7. Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

    Sep 16, 2026Ruiming Wu, Shuang Li, Liding Zhang +2Bimanual Robotic ManipulationRobot Teleoperation

  8. Understanding Whole-Body Robot Teleoperation Strategies Under Diverse Task Objectives and Constraints

    Sep 14, 2026Tsung-Chi Lin, Juo-Tung Chen, Chien-Ming HuangBimanual Robotic ManipulationRobot Teleoperation

  9. FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

    Sep 3, 2026Yutian Zhang, Siyuan Ma, Liwen Yang +6Contact-Rich Robotic ManipulationWhole-Body Control

  10. GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction

    Aug 18, 2026Ziyang Cheng, Tianshu Tang, Jinxin Lan +19Whole-Body ControlTerrain-Aware Robot Locomotion

  11. Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control

    Jul 31, 2026Hyunjong Song, William Z. Peng, Joo H. KimHumanoid Loco-ManipulationHumanoid Robot Control

  12. Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazSim-to-Real TransferWhole-Body Control

  13. Let the Body Follow: Coupled Egocentric Control for Whole-Body Robot Teleoperation

    Jul 17, 2026Tsung-Chi Lin, Yichen Xie, Chien-Ming HuangRobot TeleoperationWhole-Body Robotic Manipulation

  14. PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

    Jul 13, 2026Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4Normalizing FlowsWhole-Body Robotic Manipulation

  15. TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation

    Jul 11, 2026Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4Legged RoboticsRL for Robotics

  16. WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation

    Jul 7, 2026Wongyun Yu, Youngwoon Kim, Minsu ChoContact-Rich Robotic ManipulationHumanoid Robot Control

  17. AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance

    Jun 28, 2026Shuning Li, Sikai Li, Jiachen Li +1Robotic ControlHumanoid Robot Control

  18. CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation

    Jun 26, 2026Wenqi Ge, Junde Guo, Zhen Fu +3Humanoid Loco-ManipulationHumanoid Robot Control

  19. FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

    Jun 23, 2026Yudong Zhong, Pengfei Mai, Sikai Guo +6Robotic ControlLegged Robotics

  20. GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation

    Jun 11, 2026Xiangyu Zhu, Renjun Wu, Luzhou Ge +2Mobile ManipulationWhole-Body Control

  21. A Spiking Neural Architecture for Coordinating Arm and Locomotor Control

    Jun 9, 2026Lea Steffen, Kathryn Simone, Graeme Damberger +3Humanoid Robot LocomotionHumanoid Robot Control

  22. X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting

    Jun 6, 2026Jen-Wei Wang, Sarthak Kaingade, Andrea Tagliabue +1Robot TeleoperationWhole-Body Robotic Manipulation

  23. HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers

    Jun 4, 2026Lizhi Yang, Junheng Li, Nehar Poddar +5Humanoid Loco-ManipulationRobot Skill Learning

  24. M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking

    Jun 3, 2026Zuxing Lu, Ziang Zheng, Yao Lyu +7RL for RoboticsHumanoid Robot Control

  25. Impact of a Soft Wearable Back-Support Device on Postural Stability during Trip-Like Perturbations

    Jun 1, 2026Yuanhao Chen, Rohan Khatavkar, Soubhagya Nayak +2Whole-Body Control

  26. Constrained Whole-Body Tracking for Humanoid Robots

    May 29, 2026Daniel Morton, Pranit Mohnot, Marco PavoneRobotic ControlRobot Trajectory Tracking

  27. Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions

    May 25, 2026Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2Safety-Critical ControlControl Barrier Functions

  28. CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

    May 19, 2026Xinyuan Luo, Xingrui Chen, Xunjian Yin +6Humanoid Loco-ManipulationContact-Rich Robotic Manipulation