Abstract
Most humanoid loco-manipulation controllers require human motion data to learn whole-body coordination and posture, leaving policies reliant on external sources to provide this data. We present OCLO (Online-posture Compliant LOco-manipulation), a humanoid loco-manipulation system trained without human motion data and commanded only through two end-effector targets. Because these targets do not uniquely determine whole-body posture, OCLO generates pelvis height and torso orientation online using an analytic reachability prior, further refined through policy-in-the-loop sampling with a task-agnostic cost. OCLO also learns whole-body compliance by displacing end-effector references according to measured forces through a spring-damper model, encouraging the legs, waist, and pelvis to yield to external loads. In simulation, using the reachability prior leads to a 77.8% success rate in acquiring the commanded reference, a vast improvement over the 37.8% success rate accomplished without the prior. Further, refinement reduces end-effector orientation error across all evaluated tasks. The same posture module improves a pretrained SONIC controller on four of five tasks. Without compliance training, policies tend to lose balance under disturbances rather than sacrifice tracking. On a Unitree G1, OCLO maintains balance under end-effector disturbances that cause its ablations to fail and performs seven loco-manipulation tasks, including crouched walking and picking up a box from a low surface. Project website: https://oclo-humanoid.github.io/
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Yeom, S., Wu, Z., Huh, J., Williams, D., Zhi, Y., Atar, S., & Yip, M. (2026). Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture. https://omanscience.com/en/articles/dataset-free-compliant-humanoid-loco-manipulation-with-dynamic-online-posture
MLA 9
Yeom, Seungho, et al. "Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture." https://omanscience.com/en/articles/dataset-free-compliant-humanoid-loco-manipulation-with-dynamic-online-posture.
Chicago (author–date)
Yeom, Seungho, Zhenyu Wu, Jaeyoung Huh, Diego Williams, Yuheng Zhi, Soofiyan Atar, and Michael Yip. 2026. "Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture." https://omanscience.com/en/articles/dataset-free-compliant-humanoid-loco-manipulation-with-dynamic-online-posture.
Harvard
Yeom, S., Wu, Z., Huh, J., Williams, D., Zhi, Y., Atar, S. and Yip, M. (2026) 'Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture', Available at: https://omanscience.com/en/articles/dataset-free-compliant-humanoid-loco-manipulation-with-dynamic-online-posture.
Vancouver
Yeom S, Wu Z, Huh J, Williams D, Zhi Y, Atar S, et al. Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture. https://omanscience.com/en/articles/dataset-free-compliant-humanoid-loco-manipulation-with-dynamic-online-posture
IEEE
S. Yeom, Z. Wu, J. Huh, D. Williams, Y. Zhi, S. Atar, and M. Yip, "Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture," https://omanscience.com/en/articles/dataset-free-compliant-humanoid-loco-manipulation-with-dynamic-online-posture.