HANDOFF: Full-Body Controller for Humanoid Robots
chris_j_paxton · x · 2026-07-16
Introduces HANDOFF: a whole-body controller approach for humanoid robots. It aims to enable robots to perform longer-horizon, more complex tasks in real-world environments, such as mixed locomotion + manipulation tasks like decluttering and cleaning rooms.
Key points include:
- Learning a whole-body controller with a 10-dimensional action space that handles fall recovery, walking, and manipulation.
- The controller is designed to be friendly to companies, planners, and agents, making it easy to integrate into VLM-driven hierarchical planning systems.
- The text also discusses deploying such controllers in the real world and using methods like control barrier functions to make robots safer in human-populated environments.
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