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<!DOCTYPE html>
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  <meta name="description"
        content="Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning">
  <meta name="keywords" content="SteadyTray, Residual Reinforcement Learning, Humanoid Robotics">
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  <title>SteadyTray</title>
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          <div style="display: flex; align-items: center; justify-content: center; gap: 20px;">
            <img src="./static/images/logo.png" style="height: 95px; flex-shrink: 0;">
            <h1 class="title is-1 publication-title" style="margin: 0; text-align: justify;">
              <span style="color: #1E72B8;">SteadyTray</span>: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
            </h1>
          </div>
          <div class="is-size-5 publication-authors">
            <span class="author-block">
              <a href="https://allenhuanggit.github.io/">Anlun Huang</a><sup>*</sup>,</span>
            <span class="author-block">
              <a href="https://zhenyuwu323.github.io/">Zhenyu Wu</a><sup>*</sup>,</span>
            <span class="author-block">
              <a href="https://soofiyan.github.io/SoofiyanAtar">Soofiyan Atar</a><sup>†</sup>,
            </span>
            <span class="author-block">
              <a href="https://yuhengzhi.github.io">Yuheng Zhi</a><sup>†</sup>,
            </span>
            <span class="author-block">
              <a href="https://yip.eng.ucsd.edu">Michael Yip</a>
            </span>
          </div>

          <div class="is-size-5 publication-authors">
            <img src="./static/images/UCSD_logo.png" alt="UC San Diego" style="height: 50px; margin-top: 10px; margin-right: 40px;">
            <img src="./static/images/arclab_logo.png" alt="ArcLab" style="height: 62px; margin-top: 10px;">
          </div>
          <div class="is-size-6" style="margin-top: 8px; color: #555;">
            <sup>*†</sup>Equal Contribution
          </div>

          <div class="column has-text-centered">
            <div class="publication-links">
              <!-- PDF Link. -->
              <span class="link-block">
                <a href="./static/docs/SteadyTray.pdf"
                   class="external-link button is-normal is-rounded is-dark">
                  <span class="icon">
                      <i class="fas fa-file-pdf"></i>
                  </span>
                  <span>Paper</span>
                </a>
              </span>
              <span class="link-block">
                <a href="https://arxiv.org/abs/2603.10306"
                   class="external-link button is-normal is-rounded is-dark">
                  <span class="icon">
                      <i class="ai ai-arxiv"></i>
                  </span>
                  <span>arXiv</span>
                </a>
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                  <span>Video</span>
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                <a href="https://github.com/AllenHuangGit/steadytray"
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                  <span>Code</span>
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                  <span>Code (Coming Soon)</span>
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</section>

<section class="hero teaser">
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    <div class="hero-body">
      <div class="publication-video">
        <iframe src="https://www.youtube.com/embed/hBYnM1GcxbU?rel=0&showinfo=0"
                frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
      </div>
      <h2 class="subtitle has-text-centered">
        <strong style="color: #1a1a1a;">ReST-RL</strong> enables a Unitree G1 humanoid to perform the <strong style="color: #1a1a1a;">SteadyTray</strong> (transporting unsecured
          objects on a tray with a bipedal humanoid robot)  task in a real-world setting.
      </h2>
    </div>
  </div>
</section>


<section class="section">
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    <!-- Abstract. -->
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        <h2 class="title is-3">Abstract</h2>
        <div class="content has-text-justified">
          Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion
          remains a critical engineering bottleneck for humanoids in unstructured environments. To solve
          this, we introduce <strong style="color: #1a1a1a;">ReST-RL</strong>, a hierarchical reinforcement learning architecture that explicitly
          decouples locomotion from payload stabilization, evaluated via the <strong style="color: #1a1a1a;">SteadyTray</strong> benchmark. Rather than relying on monolithic end-to-end learning, our framework integrates a robust
          base locomotion policy with a dynamic residual module engineered to actively cancel gait-induced
          perturbations at the end-effector. This architectural separation ensures steady tray transport without degrading
          the underlying bipedal stability. In simulation, the residual design significantly outperforms end-to-end baselines
          in gait smoothness and orientation accuracy, achieving a 96.9% success rate in variable velocity
          tracking and 74.5% robustness against external force disturbances. Successfully deployed on the
          Unitree G1 humanoid hardware, this modular approach demonstrates highly reliable zero-shot
          sim-to-real generalization across various objects and external force disturbances.
        </div>
      </div>
    </div>
    <!--/ Abstract. -->

    <!-- Method Overview. -->
    <div class="columns is-centered has-text-centered">
      <div class="column">
        <h2 class="title is-3">Method Overview</h2>
        <figure>
          <img src="./static/images/method.jpg" alt="Method Overview" style="width: 100%;">
          <figcaption class="has-text-centered" style="margin-top: 8px; font-size: 0.95em; color: #555;">
            Overview of the <strong style="color: #1a1a1a;">ReST-RL</strong> which augments a pre-trained locomotion base policy
            with a residual module comprising (i) an encoder over privileged robot and payload related
            observations and (ii) an adapter that outputs corrective residual actions. Two residual designs are
            considered: <strong style="color: #1a1a1a;">Residual Action Adapter</strong> and <strong style="color: #1a1a1a;">Residual FiLM Adapter</strong>.
          </figcaption>
        </figure>
        <div class="columns is-centered" style="margin-top: 2rem;">
          <div class="column is-four-fifths">
            <figure>
              <img src="./static/images/distill.jpg" alt="Distillation" style="width: 60%;">
              <figcaption class="has-text-centered" style="margin-top: 8px; font-size: 0.95em; color: #555;">
                Distillation pipeline in which only the encoder is distilled while the adapter remains frozen.
              </figcaption>
            </figure>
          </div>
        </div>
      </div>
    </div>
    <!--/ Method Overview. -->
  </div>
</section>

<section class="section">
  <div class="container is-max-desktop">
    <h2 class="title is-3 has-text-centered">Stable Payload Transport</h2>
    <p class="has-text-centered" style="margin-top: 1rem;">
      <strong style="color: #1a1a1a;">ReST-RL</strong> maintains a level tray during transport, preventing fluid sloshing, glass tipping, and payload drop.
    </p>
    <video autoplay muted loop playsinline controls width="100%">
      <source src="./static/videos/scene.mp4" type="video/mp4">
    </video>
    <div class="columns" style="margin-top: 1.5rem;">
      <div class="column">
        <h3 class="title is-5 has-text-centered">Baseline</h3>
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/loco_push_baseline.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <h3 class="title is-5 has-text-centered">Ours</h3>
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/loco_push.mp4" type="video/mp4">
        </video>
      </div>
    </div>
  </div>
</section>


<section class="section">
  <div class="container is-max-desktop">
    <h2 class="title is-3 has-text-centered">Balancing Various Objects</h2>
    <p class="has-text-centered" style="margin-top: 1rem;">
      <strong style="color: #1a1a1a;">ReST-RL</strong> generalizes to various real-world objects with different mass distributions,
      geometries, and physical properties, without requiring additional retraining or fine-tuning.
    </p>
    <div class="columns">
      <div class="column">
        <h3 class="title is-5 has-text-centered">Coffee Cup</h3>
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/cup.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <h3 class="title is-5 has-text-centered">Wine Glass</h3>
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/wine.mp4" type="video/mp4">
        </video>
      </div>
    </div>
    <div class="columns">
      <div class="column">
        <h3 class="title is-5 has-text-centered">Food Container</h3>
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/butter.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <h3 class="title is-5 has-text-centered">Medical and Surgical Tools</h3>
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/tools.mp4" type="video/mp4">
        </video>
      </div>
    </div>
  </div>
</section>


<section class="section">
  <div class="container is-max-desktop">
    <h2 class="title is-3 has-text-centered">Balancing Object under Disturbance</h2>
    <p class="has-text-centered" style="margin-top: 1rem;">
      <strong style="color: #1a1a1a;">ReST-RL</strong> shows timely whole-body recovery behaviors to re-stabilize the tray and prevent payload tipping
      under external disturbances.
    </p>

    <div class="columns">
      <div class="column">
        <h3 class="title is-5 has-text-centered">Kick Robot</h3>
        <video autoplay controls muted loop playsinline style="width: 100%;">
          <source src="./static/videos/kick.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <h3 class="title is-5 has-text-centered">Push Object</h3>
        <video autoplay controls muted loop playsinline style="width: 100%;">
          <source src="./static/videos/push_object.mp4" type="video/mp4">
        </video>
      </div>
    </div>
  </div>
</section>


<section class="section">
  <div class="container is-max-desktop">
    <h2 class="title is-3 has-text-centered">Simulation (Restablizing Object)</h2>
    <div class="columns is-mobile">
      <div class="column">
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/sim_1.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/sim_2.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/sim_3.mp4" type="video/mp4">
        </video>
      </div>
      <div class="column">
        <video autoplay muted loop playsinline controls style="width: 100%;">
          <source src="./static/videos/sim_4.mp4" type="video/mp4">
        </video>
      </div>
    </div>
  </div>
</section>


<section class="section" id="BibTeX">
  <div class="container is-max-desktop content">
    <h2 class="title">BibTeX</h2>
    <pre><code>@misc{huang2026steadytraylearningobjectbalancing,
  title={SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning},
  author={Anlun Huang and Zhenyu Wu and Soofiyan Atar and Yuheng Zhi and Michael Yip},
  year={2026},
  eprint={2603.10306},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2603.10306},
}</code></pre>
  </div>
</section>


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