Cover Image

FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Pudasaini, Niraj, Zhang, Yutong, Lavering, Jensen, Roncone, Alessandro, Correll, Nikolaus
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
by: Kohlbrenner, Carson, et al.
Published: (2026)

DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
by: Xie, William, et al.
Published: (2024)

Unfettered Forceful Skill Acquisition with Physical Reasoning and Coordinate Frame Labeling
by: Xie, William, et al.
Published: (2025)

Towards Forceful Robotic Foundation Models: a Literature Survey
by: Xie, William, et al.
Published: (2025)

A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin
by: Kohlbrenner, Carson, et al.
Published: (2024)

H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
by: Bethala, Geeta Chandra Raju, et al.
Published: (2025)

On the Dual-Use Dilemma in Physical Reasoning and Force
by: Xie, William, et al.
Published: (2025)

Just Add Force for Contact-Rich Robot Policies
by: Xie, William, et al.
Published: (2024)

Liquid Networks with Mixture Density Heads for Efficient Imitation Learning
by: Correll, Nikolaus
Published: (2026)

Characterization, Analytical Planning, and Hybrid Force Control for the Inspire RH56DFX Hand
by: Tan, Xuan, et al.
Published: (2026)

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

Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation
by: Pasricha, Anuj, et al.
Published: (2024)

MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
by: Nechyporenko, Nataliya, et al.
Published: (2025)

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
by: Pasricha, Anuj, et al.
Published: (2025)

Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation
by: Wen, Congcong, et al.
Published: (2025)

Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure
by: Briscoe-Martinez, Gilberto, et al.
Published: (2024)

PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation
by: Pasricha, Anuj, et al.
Published: (2022)

The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
by: Pasricha, Anuj, et al.
Published: (2024)

A versatile robotic hand with 3D perception, force sensing for autonomous manipulation
by: Correll, Nikolaus, et al.
Published: (2024)

BBoE: Leveraging Bundle of Edges for Kinodynamic Bidirectional Motion Planning
by: Raghu, Srikrishna Bangalore, et al.
Published: (2025)

SPAQ-DL-SLAM: Towards Optimizing Deep Learning-based SLAM for Resource-Constrained Embedded Platforms
by: Pudasaini, Niraj, et al.
Published: (2024)

Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots
by: Cao, Zhanxiang, et al.
Published: (2025)

Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation
by: Shaw, Artemis, et al.
Published: (2026)

Preference-Conditioned Multi-Objective RL for Integrated Command Tracking and Force Compliance in Humanoid Locomotion
by: Leng, Tingxuan, et al.
Published: (2025)

Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation
by: Purushottam, Amartya, et al.
Published: (2024)

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

VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
by: Hu, Zichao, et al.
Published: (2026)

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

Robotic Agentic Platform for Intelligent Electric Vehicle Disassembly
by: Allen, Zachary, et al.
Published: (2026)

CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning
by: Tung, Yi-Shiuan, et al.
Published: (2025)

Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
by: Jin, Tianyi, et al.
Published: (2025)

CAT-RRT: Motion Planning that Admits Contact One Link at a Time
by: Nechyporenko, Nataliya, et al.
Published: (2023)

HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
by: Dong, Chenhui, et al.
Published: (2025)

Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
by: Gautam, Yaashia, et al.
Published: (2025)

Employing Laban Shape for Generating Emotionally and Functionally Expressive Trajectories in Robotic Manipulators
by: Raghu, Srikrishna Bangalore, et al.
Published: (2025)

A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
by: Escobedo, Caleb, et al.
Published: (2025)

Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics
by: Abderezaei, Ava, et al.
Published: (2024)

A Sensor Position Localization Method for Flexible, Non-Uniform Capacitive Tactile Sensor Arrays
by: Kohlbrenner, Carson, et al.
Published: (2024)

MetaWorld-X: Hierarchical World Modeling via VLM-Orchestrated Experts for Humanoid Loco-Manipulation
by: Shen, Yutong, et al.
Published: (2026)

Learning Versatile Humanoid Manipulation with Touch Dreaming
by: Niu, Yaru, et al.
Published: (2026)