Author

A. Knoll

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Preprint Sep 2026

Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

Whole-body humanoid teleoperation commonly combines a motion-tracking policy with a separate dexterous-hand retargeter. However, independently generated commands do not explicitly preserve body-hand geometric relations, leading to mismatches in relative wrist poses and fingertip positions during bimanual interaction. W...

Rui Wu, Shuang Li, Li-Ding Zhang et al. · 1 citation

Jul 2026

ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations

ThorArena is presented, a benchmark for evaluating force-aware humanoid interaction based on human demonstrations with synchronized motion and force measurements and a unified benchmark protocol that replays recorded interaction forces in simulation and provides a standardized evaluation interface for different humanoi...

Chenhao Yu, Hongwu Wang, Weitao Zhang et al. · arXiv.org · 0 citations

Jul 2026

D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

D-SafeMPC improves safety, task success rates, and planning efficiency over state-of-the-art baselines, and employs an iterative-projection scheme where an MPC refines the trajectory at each denoising step.

Erdi Sayar, Ersin Daş, Joel W. Burdick et al. · arXiv.org · 0 citations