Shanghai Innovation Institute and The University of Hong Kong · Humanoid Table Tennis

PingpongDuo

A hierarchical controller that lets two humanoid robots play table tennis doubles as a team (arXiv 2610.20579). A team-level planner picks positioning targets and filters unsafe ones with learned risk estimates, separate footwork and striking skills handle movement and hitting, and a residual on the racket arm refines strikes after the robot moves. In simulation, ball-return success is 13.2% higher than the best prior baseline; on real hardware a 2.15 m clear-and-recover cycle takes 2.4 seconds at a peak of 2.23 m/s, the robots sustain more than ten alternating strikes, and average rallies run 4.87 against 3.79 with rule-based positioning, author-reported. No code or data mentioned.