SplitAdapter
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Related Articles from SNS
SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation
arXiv:2606.03297v1 Announce Type: new Abstract: 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.