# CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation

arXiv: https://arxiv.org/abs/2512.14689 · HTML: https://mlsanity.com/paper/2512.14689/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 27 references that are in the map.
- First posted on arXiv 16 Dec 2025.

## Builds on (most cited first, 25 of 25)

- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [FAST-LIO2: Fast Direct LiDAR-inertial Odometry](https://mlsanity.com/paper/2107.06829/) (2021)
- [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://mlsanity.com/paper/2508.08241/) (2025)
- [Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion](https://mlsanity.com/paper/2210.10044/) (2022)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control](https://mlsanity.com/paper/2511.07820/) (2025)
- [HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots](https://mlsanity.com/paper/2410.21229/) (2024)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks](https://mlsanity.com/paper/1906.08880/) (2019)
- [KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills](https://mlsanity.com/paper/2506.12851/) (2025)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System](https://mlsanity.com/paper/2511.02832/) (2025)
- [Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control](https://mlsanity.com/paper/2410.09309/) (2024)
- [FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation](https://mlsanity.com/paper/2505.06776/) (2025)
- [CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks](https://mlsanity.com/paper/2506.08931/) (2025)
- [Track Any Motions under Any Disturbances](https://mlsanity.com/paper/2509.13833/) (2025)
- [HuB: Learning Extreme Humanoid Balance](https://mlsanity.com/paper/2505.07294/) (2025)
- [SoftMimic: Learning Compliant Whole-body Control from Examples](https://mlsanity.com/paper/2510.17792/) (2025)
- [Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching](https://mlsanity.com/paper/2508.03068/) (2025)
- [FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots](https://mlsanity.com/paper/2505.06883/) (2025)
- [SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty](https://mlsanity.com/paper/2404.13532/) (2024)
- [GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction](https://mlsanity.com/paper/2511.04679/) (2025)
- [HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation](https://mlsanity.com/paper/2511.14756/) (2025)

## Built on by (most cited first, 5 of 5)

- [TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control](https://mlsanity.com/paper/2602.07439/) (2026)
- [SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction](https://mlsanity.com/paper/2606.27581/) (2026)
- [VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes](https://mlsanity.com/paper/2606.30645/) (2026)
- [HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads](https://mlsanity.com/paper/2606.00252/) (2026)
- [GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction](https://mlsanity.com/paper/2608.18234/) (2026)

## Abstract (arXiv)

Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform forceful manipulation tasks such as moving objects, wiping, and pushing a cart. We propose adaptive Compliance Humanoid control through hIsight Perturbation (CHIP), a plug-and-play module that enables controllable end-effector stiffness while preserving agile tracking of dynamic reference motions. CHIP is easy to implement and requires neither data augmentation nor additional reward tuning. We show that a generalist motion-tracking controller trained with CHIP can perform a diverse set of forceful manipulation tasks that require different end-effector compliance, such as multi-robot collaboration, wiping, box delivery, and door opening.