Robotics paper index
Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation
One-line summary
A robotics research paper on Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation.
Engineering notes
Engineering notes will be added by the Robot Papers editorial team.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
People often learn how an unfamiliar object moves through a small exploratory push, using its response to guide their next motion. Inspired by this behavior, we study humanoids pushing carts whose mass and caster stiffness are initially unknown. Our object-centric framework closes online estimation, flow-based planning, and whole-body control into a loop, creating a tension: replacing the plan whenever the belief shifts disrupts the maneuver under way, while keeping it strands the robot on a path its evidence has ruled out. Belief-Overlap Partial Inversion (BOPI) scales revision to agreement, inverting the flow under the old belief only as far as the beliefs disagree before reconstructing under the new one. Across 18 simulated goals it lowers pooled final position and yaw error by roughly 33% and 47% against fixed-depth replanning, and on hardware it translates and turns a non-holonomic cart.
Links and sources
Need this topic turned into a technical roadmap?
Robot Papers can prepare a custom robotics literature review, code map, dataset map, and B2B technology assessment.
Request B2B research
Comments