Author

Tuan Dat Phuong

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Preprint Sep 2026

CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments

Behavior Foundation Models (BFMs) give humanoids a promptable policy over a latent behavior space, enabling one single vector to represent a motion to imitate, a pose to reach, or a reward to maximize. Forward-Backward representations successfully produce such spaces, but at the cost of hundreds of GPU-hours for a sing...

Tan-Dzung Do, Tuan Dat Phuong, Nico Bohlinger et al. · 0 citations

Preprint Sep 2026

CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets

Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on end-effector resistance, per-link upper-body springs, or end-effector stiffness modulation, leaving arbitrary-site perturbations on heavy pla...

Tan-Dzung Do, Cuc T.Trinh, Tuan Dat Phuong et al. · 1 citation