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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="FALCON">
<meta name="keywords" content="Robotics, Quadruped, Whole-body Control, Whole-body Manipulation">
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FALCON
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<meta property="og:image:secure" content="https://lecar-lab.github.io/falcon-humanoid/static/images/hero_static.gif" />
</head>
<section class="hero is-link is-fullheight video">
<div class="hero-video">
<video playsinline autoplay muted loop>
<source src="./static/videos/hero_static.mp4" type="video/mp4">
</video>
</div>
<div class="hero-video is-hidden-tablet is-inline-block-mobile"
style="height: 154.28571428vw; width: 100%; min-width:64.81481481vh;min-height:100%;">
<video playsinline autoplay muted loop>
<source src=" ./static/videos/hero_static.mp4" type="video/mp4">
</video>
</div>
<div class="overlay"></div>
<!-- Hero head: will stick at the top -->
<div class="hero-head is-hidden-mobile">
<header class="navbar">
<div class="container is-size-5">
<div class="navbar-menu">
<div class="navbar-end">
<a class="navbar-item pl-4 pr-4" href="./static/falcon.pdf"> <!-- TODO:update -->
<span class="icon" style="margin-right:5px;">
<img src="./static/images/pdf.svg" alt="PDF" />
</span>
<span>Paper</span>
</a>
<a class="navbar-item pl-4 pr-4" href="https://arxiv.org/abs/2505.06776"> <!-- TODO:update -->
<span class="icon" style="margin-right:5px;">
<img src="./static/images/arxiv.svg" alt="ArXiv" />
</span>
<span>arXiv</span> </a>
<a href="https://youtu.be/OfsvJ5-Fyzg" class="navbar-item pl-4 pr-4"> <!-- TODO:update -->
<span class="icon" style="margin-right:5px;">
<img src="./static/images/youtube.svg" alt="Youtube" />
</span>
<span>Video</span> </a>
<span class="navbar-item pl-4 pr-4">
<a href="https://github.com/LeCAR-Lab/FALCON/" class="button is-inverted is-large"> <!-- TODO:update -->
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<a class="navbar-item pl-4 pr-4" href="https://spectrum.ieee.org/video-friday-darpa-triage-challenge" target="_blank">
<span class="icon" style="margin-right:5px;">
<img src="./static/images/spectrum.png" alt="IEEE Spectrum" />
</span>
<span>IEEE Spectrum</span>
</a>
</div>
</div>
</div>
</header>
</div>
<!-- Hero content: will be in the middle -->
<div class="hero-body">
<div class="container has-text-centered">
<h1 class="title is-1 publication-title is-size-1-mobile" style="font-size: 6rem;">
FALCON 🦅
</h1>
<h1 class="subtitle is-1 publication-title is-size-4-mobile" style="font-size: 4rem;">
Learning Force-Adaptive Humanoid Loco-Manipulation
</h1>
<h1 class="is-2 is-italic is-size-4-mobile" style="font-size: 2rem; opacity: 80%;">
Learning for Dynamics & Control (L4DC) 2026
</h1>
<!-- <h1 class="is-2 is-italic is-size-4-mobile" style="font-size: 1.5rem; opacity: 80%;">
<b>Spotlight</b> WCBM Workshop CoRL 2024
</h1>
<h1 class="is-2 is-italic is-size-4-mobile" style="font-size: 1.5rem; opacity: 80%;">
X-Embodiment Workshop CoRL 2024
</h1> -->
<div class="column has-text-centered is-hidden-tablet">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="./static/falcon.pdf" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<img src="./static/images/pdf.svg" alt="PDF" />
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2505.06776" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<img src="./static/images/arxiv.svg" alt="ArXiv" />
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
<span class="link-block">
<a href="https://youtu.be/OfsvJ5-Fyzg" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<img src="./static/images/youtube.svg" alt="Youtube" />
</span>
<span>Video</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/LeCAR-Lab/FALCON/"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<span class="link-block">
<a href="https://spectrum.ieee.org/video-friday-darpa-triage-challenge" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<img src="./static/images/spectrum.png" alt="IEEE Spectrum" />
</span>
<span>IEEE Spectrum</span>
</a>
</span>
</div>
</div>
</div>
</div>
<!-- Hero footer: will stick at the bottom -->
<!-- <div class="hero-foot is-hidden-mobile">
<nav class="tabs is-boxed is-fullwidth is-size-4">
<ul>
<li><a href="#agile-skills">Agile Whole-Body Skills</a></li>
<li><a href="#before-after-asap"></a>Before/After ASAP Fine-tuning</a></li>
<li><a href="#abstract">Abstract</a></li>
<li><a href="#method">Method</a></li>
</ul>
</nav>
</div> -->
</section>
<section class="hero">
<div class="hero-body">
<div class="container">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation</h1>
<!-- <div class="is-size-4 publication-authors">
<span class="author-block" style="font-size: 95%;">
<a href="https://tairanhe.com/">Tairan He</a>*
<a href="https://www.zhengyiluo.com/">Zhengyi Luo</a>*
<a href="https://xialin-he.github.io/">Xialin He</a>*
<a href="https://wenlixiao-cs.github.io/">Wenli Xiao</a>
<a href="https://zita-ch.github.io/">Chong Zhang</a>
</span>
</div>
<div class="is-size-4 publication-authors">
<span class="author-block" style="font-size: 95%;">
<a href="https://wnzhang.net/">Weinan Zhang</a>
<a href="https://kriskitani.github.io/">Kris Kitani</a>
<a href="https://www.cs.cmu.edu/~cliu6/">Changliu Liu</a>
<a href="https://www.gshi.me/">Guanya Shi</a>
</span>
</div> -->
<div class="is-size-4 publication-authors">
<span class="author-block" style="font-size: 95%;">
<a href="https://hang0610.github.io/">Yuanhang Zhang</a>
<a href="https://yifuyuan.github.io/">Yifu Yuan</a>
<a href="https://www.linkedin.com/in/prajwal-gurunath/">Prajwal Gurunath</a>
<a href="https://tairanhe.com/">Tairan He</a>
<a href="https://www.linkedin.com/in/guptaishita18/">Ishita Gupta</a>
<br>
<a href="https://www.linkedin.com/in/shayegan/">Shayegan Omidshafiei</a>
<a href="https://www.linkedin.com/in/ali-agha-7aa5212a/">Ali-akbar Agha-mohammadi</a>
<a href="https://mjvc.me/">Marcell Vazquez-Chanlatte</a>
<a href="https://www.linkedin.com/in/liam-pedersen-0713172/">Liam Pedersen</a>
<a href="https://www.gshi.me/">Guanya Shi</a>
</span>
</div>
<div class="column">
<image src="./static/images/ip.png" style="width: 60%;"></image>
</div>
<div class="is-size-4 publication-authors", style="margin-bottom: 0.5cm;">
L4DC 2026 <span style="color: red; font-weight: bold;">(Oral)</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<!-- TODO:update -->
<a href="./static/falcon.pdf"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>PDF</span>
</a>
</span>
<!-- arXiv Link. -->
<span class="link-block">
<!-- TODO:update -->
<a href="https://arxiv.org/abs/2505.06776"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>ArXiv</span>
</a>
</span>
<span class="link-block">
<!-- TODO:update -->
<a href="https://youtu.be/OfsvJ5-Fyzg"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span>
<!-- Datasets Link. -->
<!-- <span class="link-block">
<a href="https://cmu.box.com/s/kmayzq5ax2rxvwn97s0hzz0aq5vws9io" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-database"></i>
</span>
<span>Datasets</span>
</a>
</span> -->
<!-- twitter Link. -->
<span class="link-block">
<!-- TODO:update -->
<a href="https://x.com/Yuanhang__Zhang/status/1921942767682588897"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-twitter"></i>
</span>
<span>Summary</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<!-- TODO:update -->
<a href="https://github.com/LeCAR-Lab/FALCON/" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<span class="link-block">
<a href="https://spectrum.ieee.org/video-friday-darpa-triage-challenge" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<img src="./static/images/spectrum.png" alt="IEEE Spectrum" />
</span>
<span>IEEE Spectrum</span>
</a>
</span>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">
Heavy-Duty Loco-Manipulation Tasks via <em>Teleoperation</em>
</h2>
<p class="content is-medium" style="text-align: center; padding-bottom: 20px;">
We compare the real-world performance of <strong style="color: #13c253; font-weight: 800;">FALCON</strong> with a <strong style="color: #e63946; font-weight: 800;">baseline</strong> that uses <em>RL for low-body locomotion and IK for upper-body manipulation w/o any force curriculum</em>, on the following three tasks: <b>Door-Opening</b>, <b>Cart-Pulling</b>, and <b>Heavy-Lifting</b>.
</p>
<tr>
<td>
<div class="columns">
<div class="column">
<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Cart-Pulling (Baseline)</h3>
<video autoplay muted loop playsinline controls preload="auto" src="./static/videos/t1_cart_pulling_baseline_mask_h264.mp4" width="100%" style="border-radius:10px; border: 5px solid rgb(255, 114, 112);"></video>
</div>
<div class="column">
<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Cart-Pulling (FALCON)</h3>
<video autoplay muted loop playsinline controls preload="auto" src="./static/videos/t1_cart_pulling_falcon_mask_h264.mp4" width="100%" style="border-radius:10px; border: 5px solid rgb(134, 236, 137);"></video>
</div>
</div>
<div class="columns">
<div class="column" style="text-align: center;">
<h3 class="title is-3" style="margin-bottom: 10px; font-size: x-large;">Door-Opening (Baseline)</h3>
<video autoplay muted loop playsinline controls preload="auto"
src="./static/videos/g1_door_opening_baseline_unmask.mp4"
width="70%"
style="border-radius:10px; border: 5px solid rgb(255, 114, 112);">
</video>
</div>
<div class="column" style="text-align: center;">
<h3 class="title is-3" style="margin-bottom: 10px; font-size: x-large;">Door-Opening (FALCON)</h3>
<video autoplay muted loop playsinline controls preload="auto"
src="./static/videos/g1_door_opening_falcon_unmask.mp4"
width="70%"
style="border-radius:10px; border: 5px solid rgb(134, 236, 137);">
</video>
</div>
</div>
<br>
<div class="columns">
<div class="column">
<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Heavy-Lifting (Baseline)</h3>
<video autoplay muted loop playsinline controls preload="auto" src="./static/videos/heavy_lifting_baseline_mask_h264.mp4" width="100%" style="border-radius:10px; border: 5px solid rgb(255, 114, 112);"></video>
</div>
<div class="column">
<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Heavy-Lifting (FALCON)</h3>
<video autoplay muted loop playsinline controls preload="auto" src="./static/videos/heavy_lifting_falcon_mask_h264.mp4" width="100%" style="border-radius:10px; border: 5px solid rgb(134, 236, 137);"></video>
</div>
</div>
</td>
</tr>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">
<em>Autonomous</em> Long-Horizon Forceful Loco-Manipulation Task
</h2>
<tr>
<td>
<div class="columns"> <!-- Correct Bulma structure -->
<div class="column has-text-centered">
<video autoplay muted loop playsinline controls preload="auto" src="./static/videos/autonomy_unmask.mov" width="100%" style="border-radius:10px;"></video>
</div>
</div>
<br>
</td>
</tr>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">
More Forceful Loco-Manipulation Tasks via <em>Teleoperation</em>
</h2>
<tr>
<td>
<!-- <div class="columns">
<div class="column has-text-centered">
<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Door-Opening</h3>
<video autoplay muted loop playsinline controls preload="auto" src="./static/videos/door_opening_fieldai_unmask.mp4" width="100%" style="border-radius:10px;"></video>
</div>
</div> -->
<div class="columns"> <!-- Correct Bulma structure -->
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<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Cart-Pulling (Unitree G1)</h3>
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<h3 class="title is-3" style="text-align: center; margin-bottom: 10px; font-size: x-large;">Tug-of-War: Round 2</h3>
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<h2 class="title is-2">Abstract</h2>
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<p>
Humanoid loco-manipulation holds transformative potential for daily service and industrial tasks, yet achieving precise, robust whole-body control with 3D end-effector force interaction remains a major challenge. Prior approaches are often limited to lightweight tasks or quadrupedal/wheeled platforms. To overcome these limitations, we propose <span class="method" style="color: darkred;">FALCON</span>, a dual-agent reinforcement-learning-based framework for robust force-adaptive humanoid loco-manipulation. <span class="method" style="color: darkred;">FALCON</span> decomposes whole-body control into two specialized agents: (1) a lower-body agent ensuring stable locomotion under external force disturbances, and (2) an upper-body agent precisely tracking end-effector positions with implicit adaptive force compensation. These two agents are jointly trained in simulation with a force curriculum that progressively escalates the magnitude of external force exerted on the end effector while respecting torque limits. Experiments demonstrate that, compared to the baselines, <span class="method" style="color: darkred;">FALCON</span> achieves 2$\times$ more accurate upper-body joint tracking, while maintaining robust locomotion under force disturbances and achieving faster training convergence. Moreover, <span class="method" style="color: darkred;">FALCON</span> enables policy training without embodiment-specific reward or curriculum tuning. Using the same training setup, we obtain policies that are deployed across multiple humanoids, enabling forceful loco-manipulation tasks such as transporting payloads (0-20N force), cart-pulling (0-100N), and door-opening (0-40N) in the real world.
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<h2 class="title is-2" style="text-align: center;">Method</h2>
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<span class="method" style="color: darkred;">FALCON</span> is a dual-agent reinforcement learning framework that decouples locomotion and manipulation with separate rewards for efficient training. During learning, a torque-limit-aware 3D force curriculum applies progressively stronger external forces to the end-effectors, maximizing force adaptivity while ensuring safety. <span class="method" style="color: darkred;">FALCON</span> can be seamlessly trained and deployed on different humanoid robots without embodiment-specific reward or curriculum tuning, showing its cross-platform generalization capability.
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There are two steps within the <span class="method" style="color: darkred;">FALCON</span> framework:
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<li><strong>Two-Agent Joint Training with Whole-Body Proprioception</strong>: <br>Two agents, each assigned distinct sub-tasks, are jointly trained using shared whole-body proprioception signals. During training, randomized 3D external forces—bounded by the upper-body joint torque limits—are applied to the end-effectors to encourage robust coordination;</li>
<li><strong>External Disturbance Handling via Force Perturbation</strong><br> The agents learn to maintain task performance under force perturbations, developing complementary behaviors to counteract disturbances and achieve stable loco-manipulation.</li>
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<section class="section" id="BibTeX">
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<h2 class="titile">BibTeX</h2>
<pre><code>@article{zhang2025falcon,
title={FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation},
author={Zhang, Yuanhang and Yuan, Yifu and Gurunath, Prajwal and Gupta, Ishita and Omidshafiei, Shayegan and Agha-mohammadi, Ali-akbar and Vazquez-Chanlatte, Marcell and Pedersen, Liam and He, Tairan and Shi, Guanya},
journal={arXiv preprint arXiv:2505.06776},
year={2025}
}</code></pre>
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