Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control

arXiv:2610.09479 · cs.RO, cs.SY, eess.SY · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-10-07

Updated: 2026-10-07

Project page: https://resgac.github.io/ResGAC-website

Terminology

• Admittance Control — 7× in this paper · explained in 1 episode
• Actor — 6× in this paper · explained in 3 episodes
• Geometric Admittance Control — 6× in this paper
• Accuracy — 5× in this paper · explained in 1 episode
• Action Space — 5× in this paper · explained in 1 episode
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Agentic Task — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
• HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation
• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
• SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
• CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
• FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
• Learning Sim-to-Real Humanoid Locomotion in 15 Minutes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving