Author

Kapalik Khanal

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Preprint Sep 2026

DUET: Decoupled Upper- and Lower-Body Execution for Task-Agnostic Humanoid Loco-Manipulation

Changing a humanoid robot's manipulation policy should not require retraining the controller that maintains the robot's balance. This study introduces DUET, a decoupled execution framework that enables locomotion and manipulation controllers to operate simultaneously by combining their commands only at the robot interf...

Kapalik Khanal, Biswash Khatiwada, S. Afrifa et al. · 0 citations