Tag: whole-body control

Multibody

HOTICE introduces Humanoid-Object Decoupled Potential Fields for joint collision encoding, enabling whole-body coordination and collision avoidance during object transportation in cluttered environments.

Multibody

DeViGrasp introduces methods to systematically examine how occlusion, segmentation-mask dropout, depth noise, and target-localization jitter affect grasp reasoning and target tracking for quadruped manipulators, improving whole-body control robustness under degraded perception.