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CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets
Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on end-effector resistance, per-link upper-body springs, or end-effector stiffness modulation, leaving arbitrary-site pertur
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