Cover Image

Task-Specified Compliance Bounds for Humanoids via Lipschitz-Constrained Policies

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	He, Zewen, Nakamura, Yoshihiko
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

CoTaP: Compliant Task Pipeline and Reinforcement Learning of Its Controller with Compliance Modulation
by: He, Zewen, et al.
Published: (2025)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
by: Chen, Zixuan, et al.
Published: (2024)

Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
by: Shin, Jaeyong, et al.
Published: (2025)

3D-CovDiffusion: 3D-Aware Diffusion Policy for Coverage Path Planning
by: Chen, Chenyuan, et al.
Published: (2025)

Imagination at Inference: Synthesizing In-Hand Views for Robust Visuomotor Policy Inference
by: Ding, Haoran, et al.
Published: (2025)

Choose What to Observe: Task-Aware Semantic-Geometric Representations for Visuomotor Policy
by: Ding, Haoran, et al.
Published: (2026)

GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
by: Jia, Xiaosong, et al.
Published: (2026)

CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
by: Chen, Sirui, et al.
Published: (2025)

Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
by: Hou, Yifan, et al.
Published: (2024)

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

Humanoid Policy ~ Human Policy
by: Qiu, Ri-Zhao, et al.
Published: (2025)

Task and Motion Planning for Humanoid Loco-manipulation
by: Ciebielski, Michal, et al.
Published: (2025)

Learning Getting-Up Policies for Real-World Humanoid Robots
by: He, Xialin, et al.
Published: (2025)

ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
by: Huang, Weidong, et al.
Published: (2026)

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
by: Hu, Kaizhe, et al.
Published: (2025)

X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
by: Wang, Dewei, et al.
Published: (2026)

Discovering Self-Protective Falling Policy for Humanoid Robot via Deep Reinforcement Learning
by: Shi, Diyuan, et al.
Published: (2025)

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
by: Cha, Junhyeok Rui, et al.
Published: (2025)

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
by: Shi, Jiyuan, et al.
Published: (2025)

RuN: Residual Policy for Natural Humanoid Locomotion
by: Li, Qingpeng, et al.
Published: (2025)

TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
by: Chen, Zhenghan, et al.
Published: (2025)

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

Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
by: Dai, Min, et al.
Published: (2026)

Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
by: Orekhov, Andrew L., et al.
Published: (2023)

End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
by: Wang, Zifan, et al.
Published: (2025)

HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
by: Zhong, Rui, et al.
Published: (2025)

SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
by: Huang, Anlun, et al.
Published: (2026)

Towards Safe Imitation Learning via Potential Field-Guided Flow Matching
by: Ding, Haoran, et al.
Published: (2025)

Load-Aware Locomotion Control for Humanoid Robots in Industrial Transportation Tasks
by: Fu, Lequn, et al.
Published: (2026)

Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
by: Ren, Junli, et al.
Published: (2025)

Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy
by: Xu, Kechun, et al.
Published: (2025)

Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy
by: Nie, Buqing, et al.
Published: (2025)

Unified Humanoid Fall-Safety Policy from a Few Demonstrations
by: Xu, Zhengjie, et al.
Published: (2025)

Coordinated Humanoid Manipulation with Choice Policies
by: Qi, Haozhi, et al.
Published: (2025)

Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
by: Sovukluk, Sait, et al.
Published: (2025)

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
by: Cha, Junhyeok Rui, et al.
Published: (2026)

BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
by: Baek, Donghoon, et al.
Published: (2026)

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
by: Li, Yixuan, et al.
Published: (2025)

DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion
by: Fan, Yahao, et al.
Published: (2025)

Constrained Style Learning from Imperfect Demonstrations under Task Optimality
by: Wen, Kehan, et al.
Published: (2025)