Authors

Roberto Horowitz

Publications 2

Preprint Open access

Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control

Joohwan Seo, Xiaofeng Guo, Jinkun Cao et al. · 2026

Precise end-effector tracking during humanoid whole-body motion is challenging due to floating-base oscillations, gravity, dynamic coupling, and locomotion-induced disturbances. We propose ResGAC, a whole-body humanoid controller for precise end-effector pose tracking that combines geometric admittance control (GAC) wi …

Preprint Open access

CoHuB: A Simulation Benchmark for Multi-Humanoid Collaboration

Hyunjin Park, Jebeom Chae, Minwoo Park et al. · 2026

Many physical tasks in human environments require collaboration, from assisting a partner to jointly manipulating an object. Yet, existing humanoid benchmarks largely focus on single-humanoid skills and lack evaluation of multi-humanoid collaboration under egocentric visual observations. We introduce CoHuB (Collaborati …

Co-authors