PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots

PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots

Zhihao Cao^1,, Tianxu An^1,2,, Chenhao Li^1,3, Stelian Coros², Marco Hutter¹

¹Robotic Systems Lab ²Computational Robotics Lab ³ETH AI Center

^*Co-first authors

IEEE Robotics and Automation Letters, 2026

Simulation Results

Cooperative Transport with Multi-Robot Teams

Cooperative Transport with Huamnoid and Multi-Robot Teams

Real World Results

Cooperative Transport with Different Leader

Cooperative Transport with Different Terrain

Cooperative Transport with Different Object

Cooperative Transport with Different Follower

Cooperative Transport with Multi-Robot Teams

Long-horizon Real World Results