CEER proposes a compliant end-effector and root control interface that unifies loco-manipulation for humanoids via a distilled low-level policy and hierarchical planners.
Chip: Adaptive compliance for humanoid control through hindsight perturbation
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HTD, a multimodal transformer policy trained with behavioral cloning and touch dreaming to predict future tactile latents, achieves a 90.9% relative success rate improvement over baselines on five real-world contact-rich humanoid loco-manipulation tasks.
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CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
CEER proposes a compliant end-effector and root control interface that unifies loco-manipulation for humanoids via a distilled low-level policy and hierarchical planners.
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Learning Versatile Humanoid Manipulation with Touch Dreaming
HTD, a multimodal transformer policy trained with behavioral cloning and touch dreaming to predict future tactile latents, achieves a 90.9% relative success rate improvement over baselines on five real-world contact-rich humanoid loco-manipulation tasks.