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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

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Han-Yu Zhou

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Open access Oct 2026

Residual Whole-Body Control for Contact-Aware Humanoid Loco-Manipulation with Phase-Conditioned Motion Priors

Humanoid object transport couples high-dimensional locomotion with non-smooth contact interactions. Retargeted demonstration priors can fail under contact mismatches, payload changes, and dynamic perturbations. We present residual learning for humanoid object carrying (ResCarry), a residual whole-body control framework...

Han-Yu Zhou, Lambert Luo, Edward H. Zhang · 0 citations

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