CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation

arXiv:2609.38709 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Comments: 8 Pages, 5 figures

Project page: https://ee-root-compliance.github.io

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

Terminology

• Accuracy — 8× in this paper · explained in 1 episode
• Consistency — 5× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Admittance Control — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Mixture-of-Experts (MoE) — 1× in this paper · explained in 7 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
• BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
• SoftMimic: Learning Compliant Whole-body Control from Examples
• GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
• CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
• CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
• WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
• SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids
• Minimalist Compliance Control
• FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
• FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
• Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments
• HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
• Learning Human-Humanoid Coordination for Collaborative Object Carrying
• HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
• SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

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