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, ETH Zurich ²Computational Robotics Lab, ETH Zurich ³ETH AI Center

^*Equal contribution ^†Corresponding author

IEEE Robotics and Automation Letters (RA-L), 2026

Paper arXiv Reproduction Docs BibTeX

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

Extended Video

Citation

If you find this work useful, please consider citing:

@article{cao2026paint,
  title={PAINT: Partner-Agnostic Intent-Aware Cooperative Transport With Legged Robots},
  author={Cao, Zhihao and An, Tianxu and Li, Chenhao and Coros, Stelian and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  volume={11},
  number={11},
  pages={12312--12319},
  year={2026},
  doi={10.1109/LRA.2026.3730304}
}