Preprint
Sep 2026
STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots
Humanoid loco-manipulation faces two prominent limitations: controllers using continuous velocity commands cannot precisely regulate individual footholds, while specialized foothold-tracking modules are difficult to integrate with whole-body manipulation. Furthermore, standard action-based imitation distillation primar...
Yuan-Zhuo Li, Wen Zhao, Zheng-Yu Yong et al.
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