ReACT

“carrying an object in one hand introduces a persistent asymmetric upper-body load that can degrade velocity tracking. Persistent tracking biases can accumulate into position and heading deviations, increasing the risk of collisions and navigation failure.”

“Simulation experiments on a Unitree G1 humanoid robot show improved velocity tracking...”

“Policies are trained in Isaac Gym [21] with 4096 parallel environments at 50 Hz for 50K vectorized iterations...”