Cover Image

Task and Motion Planning for Humanoid Loco-manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ciebielski, Michal, Dhédin, Victor, Khadiv, Majid
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
by: Dhédin, Victor, et al.
Published: (2025)

Contact-conditioned learning of multi-gait locomotion policies
by: Ciebielski, Michal, et al.
Published: (2024)

Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
by: Taouil, Ilyass, et al.
Published: (2025)

Learning feasible transitions for efficient contact planning
by: Akizhanov, Rikhat, et al.
Published: (2024)

Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps
by: Murooka, Masaki, et al.
Published: (2025)

Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation
by: Foster, James, et al.
Published: (2024)

Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
by: Omar, Shafeef, et al.
Published: (2025)

DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
by: Dhedin, Victor, et al.
Published: (2026)

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model
by: Wang, Jin, et al.
Published: (2024)

Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
by: Salagame, Adarsh, et al.
Published: (2024)

Last-iterate Convergence of ADMM on Multi-affine Quadratic Equality Constrained Problem
by: Chao, Yutong, et al.
Published: (2026)

Trajectory Optimization under Contact Timing Uncertainties
by: Zhao, Haizhou, et al.
Published: (2024)

Safe Learning of Locomotion Skills from MPC
by: Pua, Xun, et al.
Published: (2024)

Diffusion-based learning of contact plans for agile locomotion
by: Dhédin, Victor, et al.
Published: (2024)

LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
by: Kim, Hojune, et al.
Published: (2026)

Grounding Language Models in Autonomous Loco-manipulation Tasks
by: Wang, Jin, et al.
Published: (2024)

REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
by: Gu, Zhaoyuan, et al.
Published: (2026)

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
by: Wang, Jin, et al.
Published: (2024)

Hippo: High-performance Interior-Point and Projection-based Solver for Generic Constrained Trajectory Optimization
by: Zhao, Haizhou, et al.
Published: (2026)

FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
by: Zhang, Yuanhang, et al.
Published: (2025)

HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
by: Lin, Kevin, et al.
Published: (2026)

Control of Legged Robots using Model Predictive Optimized Path Integral
by: Keshavarz, Hossein, et al.
Published: (2025)

UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
by: Yang, Zewen, et al.
Published: (2025)

VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
by: He, Tairan, et al.
Published: (2025)

AGILE: A Comprehensive Workflow for Humanoid Loco-Manipulation Learning
by: Zhao, Huihua, et al.
Published: (2026)

VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
by: Yin, Shaofeng, et al.
Published: (2025)

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control
by: Murooka, Masaki, et al.
Published: (2025)

ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
by: Sun, Wandong, et al.
Published: (2025)

ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
by: Zhao, Siheng, et al.
Published: (2025)

Safety-critical Motion Planning for Collaborative Legged Loco-Manipulation over Discrete Terrain
by: Sombolestan, Mohsen, et al.
Published: (2024)

Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
by: Rigo, Alberto, et al.
Published: (2023)

ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
by: Shi, Haochen, et al.
Published: (2025)

EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
by: Shi, Modi, et al.
Published: (2026)

$Ψ_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
by: Wei, Songlin, et al.
Published: (2026)

CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation
by: Yuan, Yuanchen, et al.
Published: (2025)

HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
by: Ben, Qingwei, et al.
Published: (2025)

DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation
by: Fu, Yuhui, et al.
Published: (2025)

StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion
by: Ma, Le, et al.
Published: (2025)

HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
by: Lin, Sixu, et al.
Published: (2025)

Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation
by: Xiao, Kaiyan, et al.
Published: (2025)