Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control
We study cooperative multi-humanoid pickup and transport of objects with varying size, weight, and geometry, requiring robot teams of different sizes. Our approach uses decentralized object-centric control, where each humanoid is assigned a local attachment region on the shared object and learns to realize pickup and transport through gripperless bimanual pinching. This attachment-based interface provides a common control abstraction spanning single-robot pickup, cooperative multi-robot transport, and robot-to-robot handover, without per-task redesign. We find that policies trained only on single-robot pickup already transfer nontrivially to cooperative settings, suggesting that this abst...
| Authors | Bikram Pandit, Mohitvishnu S. Gadde, Aayam Kumar Shrestha et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 September 2026 |
| Last updated at source | 15 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.