A thesis presents a robot-local behavior authoring system using affordance templates and behavior trees for fast, resilient loco-manipulation on multiple humanoid platforms.
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2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A multi-channel terrain affordance reward combined with lower-body compliance training via virtual wrenches enables end-to-end PPO-trained humanoid policies to walk at 1 m/s on 0.2 m risers with improved payload robustness.
citing papers explorer
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A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
A thesis presents a robot-local behavior authoring system using affordance templates and behavior trees for fast, resilient loco-manipulation on multiple humanoid platforms.
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TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion
A multi-channel terrain affordance reward combined with lower-body compliance training via virtual wrenches enables end-to-end PPO-trained humanoid policies to walk at 1 m/s on 0.2 m risers with improved payload robustness.