KPI: A Promptable Kernel for Physical Interaction on Humanoids

arXiv:2609.36151 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Comments: Project website: https://kpi-robot.github.io/

Project page: https://kpi-robot.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 17× in this paper · explained in 1 episode
• Analyzer — 10× in this paper · explained in 1 episode
• Verifier — 10× in this paper · explained in 2 episodes
• Core — 7× in this paper · explained in 2 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Agentic System — 3× in this paper · explained in 2 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Online Adaptation — 3× in this paper · explained in 3 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Admittance Control — 2× in this paper · explained in 1 episode
• Agentic Task — 2× in this paper · explained in 1 episode
• Agentic Framework — 1× in this paper · explained in 6 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• RAG — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
• OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
• Learning Human-Humanoid Coordination for Collaborative Object Carrying
• Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
• Tune to Learn: How Controller Gains Shape Robot Policy Learning
• CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
• SoftMimic: Learning Compliant Whole-body Control from Examples
• Minimalist Compliance Control
• HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads
• ContactMimic: Humanoid Object Interaction via Contact Control
• CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
• HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
• Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation

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