SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation
Robotics
Summary
arXiv:2606.03297v1 Announce Type: new Abstract: Humanoid loco-manipulation requires stable whole-body control under varying object masses and pickup/placement heights. This becomes particularly challenging in sim-to-real transfer, where object-induced load variation and robot-side dynamics mismatch interact during physical contact. Existing history-based adapters often compress these factors into a single latent representation, which can weaken robustness under heavy-load manipulation.
Why It Matters
This Robotics development accelerates factory automation and intensifies competition among Asian robotics makers. For Asia, it is a signal worth tracking: it shapes who supplies, who scales, and who sets the standard over the next five years.
Key Facts
- SectorRobotics
- Market—
- ImpactLow (42/100)
- SignalResearch