A team led by An Dang introduced HULK, a control framework for humanoid robots that need to move while holding large objects. The system combines model predictive control with reinforcement learning and a balance‑keeping barrier function. Tests in simulation and on a Unitree G1 robot showed lower tracking errors and better stability when each arm carried 10 kg. The wrist‑force teacher could resist pushes on the torso up to 130 N.
Why it matters
It lets robots safely transport heavy items in settings like warehouses or disaster sites.
