CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
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arXiv
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| Autores principales: | , , , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866917511317946368 |
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| author | Luo, Xinyuan Chen, Xingrui Yin, Xunjian Wu, Hongxuan Xia, Boxi Chen, Zhuoqun Li, Jinzhou Chen, Boyuan Cheng, Xianyi |
| author_facet | Luo, Xinyuan Chen, Xingrui Yin, Xunjian Wu, Hongxuan Xia, Boxi Chen, Zhuoqun Li, Jinzhou Chen, Boyuan Cheng, Xianyi |
| contents | Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich and demands compliant whole-body control for stable interaction, while its diversity and long-horizon nature favor modular, planner-compatible interfaces over joint-space tracking.
We propose CEER, a compliant end-effector-root (EE-root) control abstraction for modular humanoid loco-manipulation within a hierarchical planning framework. CEER enables compliance-aware whole-body control in an interpretable task space defined by root motion commands and end-effector pose targets, and supports plug-and-play integration with heterogeneous high-level planners. A teacher-student framework is adopted to distill a general motion-tracking controller into a low-level policy that consumes only EE-root commands.
We further construct a hierarchical system that integrates heterogeneous planners and task modules through the EE-root interface, enabling diverse manipulation tasks without retraining the underlying whole-body policy. Experiments in simulation and on hardware demonstrate 3.3 cm end-effector tracking accuracy with substantially reduced jerk compared to baselines, stable contact-rich manipulation under teleoperation, and up to 70% success in simulated single-object loco-manipulation tasks within a room-scale environment. These results indicate that compliant EE-root control provides a practical abstraction for humanoid loco-manipulation, enabling modular and scalable integration of diverse skills. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_19981 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation Luo, Xinyuan Chen, Xingrui Yin, Xunjian Wu, Hongxuan Xia, Boxi Chen, Zhuoqun Li, Jinzhou Chen, Boyuan Cheng, Xianyi Robotics Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich and demands compliant whole-body control for stable interaction, while its diversity and long-horizon nature favor modular, planner-compatible interfaces over joint-space tracking. We propose CEER, a compliant end-effector-root (EE-root) control abstraction for modular humanoid loco-manipulation within a hierarchical planning framework. CEER enables compliance-aware whole-body control in an interpretable task space defined by root motion commands and end-effector pose targets, and supports plug-and-play integration with heterogeneous high-level planners. A teacher-student framework is adopted to distill a general motion-tracking controller into a low-level policy that consumes only EE-root commands. We further construct a hierarchical system that integrates heterogeneous planners and task modules through the EE-root interface, enabling diverse manipulation tasks without retraining the underlying whole-body policy. Experiments in simulation and on hardware demonstrate 3.3 cm end-effector tracking accuracy with substantially reduced jerk compared to baselines, stable contact-rich manipulation under teleoperation, and up to 70% success in simulated single-object loco-manipulation tasks within a room-scale environment. These results indicate that compliant EE-root control provides a practical abstraction for humanoid loco-manipulation, enabling modular and scalable integration of diverse skills. |
| title | CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.19981 |