Author

R. Horowitz

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Preprint Oct 2026

Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control

Precise end-effector tracking during humanoid whole-body motion is challenging due to floating-base oscillations, gravity, dynamic coupling, and locomotion-induced disturbances. We propose ResGAC, a whole-body humanoid controller for precise end-effector pose tracking that combines geometric admittance control (GAC) wi...

Joohwan Seo, Xiao-Feng Guo, Jin-Kun Cao et al. · 0 citations

#artificial intelligence Preprint Sep 2026

CoHuB: A Simulation Benchmark for Multi-Humanoid Collaboration

This work introduces CoHuB (Collaborative Multi-Humanoid Benchmark), a simulation benchmark for multi-humanoid collaboration under egocentric visual observations and provides a foundation for developing and evaluating multi-humanoid collaboration policies.

Hyunji Park, Jebeom Chae, Minwoo Park et al. · 0 citations

#machine learning Preprint Sep 2026

Humanoid Safe Stop via Learned Stoppability Value

Safe-Stop is proposed, a task-agnostic framework that pairs a learned stop policy with learned stoppability estimators, and yields decisions that are robust without sacrificing reactivity.

Jun-Feng Long, Pieter Abbeel, K. Sreenath et al. · 0 citations