
























Humanoid loco-manipulation requires stable whole-body control under varying object masses and pickup/placement heights. This becomes particularly challenging in sim-to-real transfer, where object-induced load variation and robot-side dynamics mismatch interact during physical contact. Existing history-based adapters often compress these factors into a single latent representation, which can weaken robustness under heavy-load manipulation. We propose \textbf{SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation}, which freezes a pretrained box manipulation policy and extends it with object/load and dynamics-aware context encoders trained with split world-model objectives, GRL-based cross-adversarial regularization, and hierarchical Feature-wise Linear Modulation (FiLM). In sim-to-sim experiments and real-world deployment, SplitAdapter improves Full-task success over the base policy and world-model FiLM baselines across object masses of $2$, $4$, and $6$ kg and pickup/placement heights of $0$, $30$, and $60$ cm, with the largest improvements under heavy-load conditions.
此内容由惯性聚合(RSS阅读器)自动聚合整理,仅供阅读参考。 原文来自 — 版权归原作者所有。