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

arXiv:2609.33310 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Project page: https://dotandung.github.io/compliantwbc

Terminology

• Fidelity — 10× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Admittance Control — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Predictive Coding — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Systematic Bias — 1× in this paper · explained in 3 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
• CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
• FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
• GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
• SoftMimic: Learning Compliant Whole-body Control from Examples
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
• CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
• Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• TWIST: Teleoperated Whole-Body Imitation System
• CoTaP: Compliant Task Pipeline and Reinforcement Learning of Its Controller with Compliance Modulation
• The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
• HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
• Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation
• Interaction-Aware Whole-Body Control for Compliant Object Transport
• Residual Policy Learning

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