Preprint Open access
HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
Humanoid loco-manipulation of large, heavy objects demands forceful interaction across the entire body. However, such payloads shift a humanoid's center of mass and impose sustained loads across the upper body, challenging balance and command tracking. We present HULK, a whole-body control framework for forceful loco-m …