Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture
cs.RO
Submitted: 2026-10-05
Updated: 2026-10-05
Code: https://github.com/google-deepmind/mujoco
Project page: https://oclo-humanoid.github.io
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
- GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
- SoftMimic: Learning Compliant Whole-body Control from Examples
- CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
- ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
- Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
- RGB: RL Guided Whole-Body MPPI for Humanoid Control
- Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
- Proximal Policy Optimization Algorithms
- mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
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