{"ID":2836947,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.20275","arxiv_id":"2511.20275","title":"HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments","abstract":"Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant challenge. To address these limitations, this paper proposes HAFO, a dual-agent reinforcement learning framework that concurrently optimizes both a robust locomotion strategy and a precise upper-body manipulation strategy via coupled training. We employ a constrained residual action space to improve dual-agent training stability and sample efficiency. The external tension disturbances are explicitly modeled using a spring-damper system, allowing for fine-grained force control through manipulation of the virtual spring. In this process, the reinforcement learning policy autonomously generates a disturbance-rejection response by utilizing environmental feedback. The experimental results demonstrate that HAFO achieves whole-body control for humanoid robots across diverse force-interaction environments using a single dual-agent policy, delivering outstanding performance under load-bearing and thrust-disturbance conditions, while maintaining stable operation even under rope suspension state.","short_abstract":"Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant challenge. To address these limitations, this paper proposes HAFO, a dual-agent rei...","url_abs":"https://arxiv.org/abs/2511.20275","url_pdf":"https://arxiv.org/pdf/2511.20275v4","authors":"[\"Chenhui Dong\",\"Haozhe Xu\",\"Wenhao Feng\",\"Zhipeng Wang\",\"Yanmin Zhou\",\"Yifei Zhao\",\"Bin He\"]","published":"2025-11-25T13:02:17Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"Reinforcement Learning\"]","has_code":false}