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CHIP: Learning Adaptive Compliance for Humanoid Control through Hindsight Perturbation

Sirui Chen*,1,2   Zi-Ang Cao*,1,3   Zhengyi Luo1   Fernando Castañeda1   Chenran Li1   Tingwu Wang1  
Linxi "Jim" Fan1   C. Karen Liu‡,2   Yuke Zhu‡,1,3  
* Co-First Authors     ‡ Project Leads 1 Nvidia 2 Stanford 3 UT Austin
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@article{chen2025chip,
    title={CHIP: Learning Adaptive Compliance for Humanoid Control through Hindsight Perturbation},
    author={Chen, Sirui and Cao, Zi-Ang and Luo, Zhengyi and Castañeda, Fernando and Li, Chenran and Wang, Tingwu and Yuan, Ye and Fan, Linxi and Liu, C Karen and Zhu, Yuke},
    journal={arXiv preprint arXiv:2512.14689},
    year={2025}
}