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Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Humanoid robots with quasi-direct-drive actuators continuously generate joint torque while standing, whereas seated humans delegate weight support to chairs during desk work. As a first step toward seated loco-manipulation, we study omnidirectional seated locomotion on a passive mobile chair, requiring unfixed pelvis-seat contact and intermittent foot-floor propulsion of the robot-chair system. We extend a standard standing velocity-tracking environment with a passive-chair model, seated-state rewards, critic-only chair observations, and task-tailored contact settings. The policy is learned wi

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