Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation

arXiv:2609.25486 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Ablation — 7× in this paper · explained in 1 episode
• Accuracy — 4× in this paper · explained in 1 episode
• Supporting Hand Strategy — 4× in this paper
• Actor — 3× in this paper · explained in 3 episodes
• Task-Region Support Optimiser — 3× in this paper
• Whole-Body Keypoint Representation — 3× in this paper
• Reward Function — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes

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