Cover Image

HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wei, Lai, Peng, Xuanbin, Qiu, Ri-Zhao, Huang, Tianshu, Cheng, Xuxin, Wang, Xiaolong
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

Visual Whole-Body Control for Legged Loco-Manipulation
by: Liu, Minghuan, et al.
Published: (2024)

In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data
by: Cai, Xiongyi, et al.
Published: (2025)

AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
by: Li, Jialong, et al.
Published: (2025)

WildLMa: Long Horizon Loco-Manipulation in the Wild
by: Qiu, Ri-Zhao, et al.
Published: (2024)

GMT: General Motion Tracking for Humanoid Whole-Body Control
by: Chen, Zixuan, et al.
Published: (2025)

ExBody2: Advanced Expressive Humanoid Whole-Body Control
by: Ji, Mazeyu, et al.
Published: (2024)

M3: 3D-Spatial MultiModal Memory
by: Zou, Xueyan, et al.
Published: (2025)

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
by: Sleiman, Jean-Pierre, et al.
Published: (2024)

ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
by: Yan, Ge, et al.
Published: (2025)

Dexterous Contact-Rich Manipulation via the Contact Trust Region
by: Suh, H. J. Terry, et al.
Published: (2025)

Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
by: Zhi, Peiyuan, et al.
Published: (2025)

GraspSplats: Efficient Manipulation with 3D Feature Splatting
by: Ji, Mazeyu, et al.
Published: (2024)

SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
by: Jang, Jaehwi, et al.
Published: (2025)

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

Active Admittance Control with Iterative Learning for General-Purpose Contact-Rich Manipulation
by: Zhou, Bo, et al.
Published: (2024)

LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
by: Lin, Changyi, et al.
Published: (2024)

Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
by: Salagame, Adarsh, et al.
Published: (2024)

Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
by: Zhou, Pokuang, et al.
Published: (2026)

Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
by: Wang, Zifan, et al.
Published: (2024)

A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation
by: Liu, Yaohua, et al.
Published: (2026)

RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation
by: Cheng, Jin, et al.
Published: (2025)

MetaLoco: Universal Quadrupedal Locomotion with Meta-Reinforcement Learning and Motion Imitation
by: Zargarbashi, Fatemeh, et al.
Published: (2024)

Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
by: Zhang, Zhe, et al.
Published: (2026)

Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
by: Zhu, Huaijiang, et al.
Published: (2024)

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
by: Leve, Victor, et al.
Published: (2024)

GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots
by: Atanassov, Vassil, et al.
Published: (2025)

A Thesis on Loco-Manipulation with Non-impulsive Contact-Implicit Planning in a Slithering Robot
by: Gangaraju, Kruthika
Published: (2024)

ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control
by: Borse, Chetan, et al.
Published: (2026)

Human-Robot Copilot for Data-Efficient Imitation Learning
by: Yan, Rui, et al.
Published: (2026)

Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation
by: Yang, Yifei, et al.
Published: (2026)

Learning More With Less: Sample Efficient Model-Based RL for Loco-Manipulation
by: Hoffman, Benjamin, et al.
Published: (2025)

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

SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
by: Wu, Tianshu, et al.
Published: (2026)

ACLM: ADMM-Based Distributed Model Predictive Control for Collaborative Loco-Manipulation
by: Zhou, Ziyi, et al.
Published: (2026)

MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm
by: Liu, Xin, et al.
Published: (2025)

A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
by: Zhu, Xiang, et al.
Published: (2022)

Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
by: Fang, Hongjie, et al.
Published: (2026)

Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
by: Sathyanarayan, Hrishikesh, et al.
Published: (2026)

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

Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations
by: Zhou, Bo, et al.
Published: (2024)