Author

Xian-Yi Cheng

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Preprint Sep 2026

CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation

Humanoids are increasingly capable of tracking complex whole-body motions, but physical interaction introduces a different challenge. When a robot makes contact with a person or the environment, it needs to respond to external forces while preserving the motion needed for the task. This response can vary across directi...

Xin-Yuan Luo, Chun-Yuan Yang, Bo-Yuan Chen et al. · 0 citations

#artificial intelligence Preprint Sep 2026

FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation

Large language model (LLM) planners can decompose natural-language instructions and select reusable robot skills, but choosing the correct skill does not guarantee successful physical execution. This gap is especially important in humanoid loco-manipulation, where errors during approach, grasping, transport, or placeme...

Ajay Vikram Periasami, Xin Luo, Hao-Yu Li et al. · 0 citations