Ctrl-F: Force as an Interface for Humanoid Loco-Manipulation
Overview
This research presents Ctrl-F, a hierarchical motion-force framework that augments humanoid motion tracking with explicit 3-D force commands at contact points like hands and feet. The system includes a unified motion-force controller and a high-level force planner that issues online force commands based on object state and proprioception. Demonstrated in both simulation and on hardware, Ctrl-F successfully performs loco-manipulation tasks requiring large, sustained interaction forces, such as hand-based dragging, pushing, lifting, and foot-based kicking. It adapts online to changing loads, successfully manipulating boxes weighing up to 20kg in pushing and kicking tasks where force-blind baselines fail.
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“der-explored. We argue that force is a natural command channel between motion imitation and object interaction, one that specifies not just where to make contact but how hard. We present Ctrl-F, a hierarchical motion-force framework that augments motion tracking with an explicit force command, a 3-D force at each designated contact body such as a hand or a foot. The hierarchical framework comprises: (1) A unified mot”
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- arXiv Robotics — research abstractsSignalCtrl-F: Force as an Interface for Humanoid Loco-Manipulation
This research presents Ctrl-F, a hierarchical motion-force framework that augments humanoid motion tracking with explicit 3-D force commands at contact points like hands and feet. The system includes a unified motion-force controller and a high-level force planner that issues online force commands based on object state and proprioception. Demonstrated in both simulation and on hardware, Ctrl-F successfully performs loco-manipulation tasks requiring large, sustained interaction forces, such as hand-based dragging, pushing, lifting, and foot-based kicking. It adapts online to changing loads, successfully manipulating boxes weighing up to 20kg in pushing and kicking tasks where force-blind baselines fail.
Event coverage history
Current attention 3·Peak within the comparable range 10（2026-11-05 06:00 UTC）·Change within the comparable range over 24 hours -49%
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