Decentralized multi-humanoid transport: one policy, no comms, pinch-lift-move (decMHT)
tweetsatpreet · x · 2026-09-22
Oregon State's DRAIL lab (Bikram Pandit, Alan Fern) presents decMHT, a decentralized object-centric control abstraction letting teams of humanoid robots cooperatively pick up, transport, and hand off shared objects. Each humanoid is assigned a local attachment region on the object and learns gripperless bimanual pinching; one policy spans single-robot pickup, multi-robot transport, and robot-to-robot handover with no inter-robot communication. Notably, policies trained only on single-robot pickup already transfer nontrivially to cooperative settings. The lab also has related ICRA 2026 quadruped-arm and CoRL 2025 bipedal transport work, with hands as the next frontier.
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