CWI decouples MoCap data for upper-body manipulation and lower-body locomotion, using dual discriminators and multi-critic training plus distillation to produce a policy that works from hand poses and velocity commands alone.
Multi-critic learning for whole-body end-effector twist tracking,
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
FT-WBC introduces a decoupled policy architecture with a Fault Estimator and Posture Adaptation Module that converts unstable arm-driven posture requests into safe base commands under actuator failures in legged manipulators.
citing papers explorer
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CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
CWI decouples MoCap data for upper-body manipulation and lower-body locomotion, using dual discriminators and multi-critic training plus distillation to produce a policy that works from hand poses and velocity commands alone.
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FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
FT-WBC introduces a decoupled policy architecture with a Fault Estimator and Posture Adaptation Module that converts unstable arm-driven posture requests into safe base commands under actuator failures in legged manipulators.