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A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

There is tremendous value in humanoid robots taking on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole-body motion, perception, contact, and operator supervision. We present a robot-local, runtime-editable behavior authoring and runtime system that addresses these challenges. We argue that behavior architecture can be a primary enabler of capability, speed, and reliability, and that runtime editability enables fast behavior creation, adaptation, extension, and combination. Our behavior a

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