{"ID":2840195,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.14756","arxiv_id":"2511.14756","title":"HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation","abstract":"Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with contacts or varying payloads. To address this, we propose a Heterogeneous Meta-Control (HMC) framework for Loco-Manipulation that adaptively stitches multiple control modalities: position, impedance, and hybrid force-position. We first introduce an interface, HMC-Controller, for blending actions from different control profiles continuously in the torque space. HMC-Controller facilitates both teleoperation and policy deployment. Then, to learn a robust force-aware policy, we propose HMC-Policy to unify different controllers into a heterogeneous architecture. We adopt a mixture-of-experts style routing to learn from large-scale position-only data and fine-grained force-aware demonstrations. Experiments on a real humanoid robot show over 50% relative improvement vs. baselines on challenging tasks such as compliant table wiping and drawer opening, demonstrating the efficacy of HMC.","short_abstract":"Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with contacts or varying payloads. To address this, we propose a Heterogeneous Meta-Cont...","url_abs":"https://arxiv.org/abs/2511.14756","url_pdf":"https://arxiv.org/pdf/2511.14756v1","authors":"[\"Lai Wei\",\"Xuanbin Peng\",\"Ri-Zhao Qiu\",\"Tianshu Huang\",\"Xuxin Cheng\",\"Xiaolong Wang\"]","published":"2025-11-18T18:56:24Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}