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.
Facet: Force-adaptive control via impedance reference tracking for legged robots,
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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.