arXiv Machine Learning October 3, 2026 By Morgan Byrd, Donghoon Baek, Kartik Garg, Hyunyoung Jung, Daesol Cho, Maks Sorokin, Robert Wright, Sehoon Ha

AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation

Read the original on arXiv Machine Learning →

AdaptManip is a fully autonomous framework that enables humanoid robots to navigate, lift, and deliver objects without human demonstrations. It combines a recurrent state estimator for real‑time object tracking, a whole‑body locomotion policy with residual manipulation control, and a LiDAR‑based global position estimator. Trained entirely in simulation with reinforcement learning, the system achieves zero‑shot deployment on real hardware, outperforming imitation‑learning baselines in adaptability and success rate.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Machine Learning.

arXiv AI

4d ago

EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation

arXiv:2609.37181v1 Announce Type: cross Abstract: Human demonstrations capture diverse scenes and rich whole-body skills without requiring robot teleoperation. Prior work on egocentric transfer has e...

By Jin Chen, Yiming Jiang, Chongyang Xu, Modi Shi, Shijia Peng, Li Chen, Tianyu Li, Mu Xu, Yilun Chen, Steven Hoi, Hongyang Li

robotics multimodal safety

arXiv Machine Learning

Jun 9

Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking

arXiv:2606. 08253v1 Announce Type: cross Abstract: Enabling humanoid robots to operate in complex, dynamic environments remains a critical challenge, fundamentally limited by the ability to navigate robustly, safely, and accurately.

By Alessandro Montenegro, Shihao Li, Puze Liu, Alberto Maria Metelli, Jan Peters

computer-vision reinforcement-learning robotics

arXiv Computer Vision

Sep 21

ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation

ULTRA is a unified framework for autonomous humanoid whole-body locomotion and manipulation that overcomes limitations of prior methods by combining a physics-driven neural retargeting algorithm with a multimodal controller. The retargeting algorithm translates large-scale motion capture data into physically plausible humanoid motions, while the controller learns to handle both dense motion references and sparse task specifications using a range of sensory inputs, from accurate motion-capture states to noisy egocentric vision. In simulation and on a real Unitree G1 humanoid, ULTRA demonstrates improved generalization and robustness, enabling coordinated whole-body behavior from sparse intent without relying on test-time reference motions.

By Xialin He, Sirui Xu, Xinyao Li, Runpei Dong, Liuyu Bian, Yu-Xiong Wang, Liang-Yan Gui

agents diffusion reinforcement-learning robotics fine-tuning multimodal

arXiv Computer Vision

Aug 25

TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation

arXiv:2608.22296v1 Announce Type: cross Abstract: Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact th...

By Haoran Lin, Mingyu Yang, Pengfei Qi, Kehan Chen, Qiang Diao, Liangji Zeng, Wenrui Chen, Yaonan Wang, Kailun Yang

robotics multimodal

arXiv AI

Aug 19

ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback

The paper introduces ORPA, a framework that adds a lightweight, feedback-conditioned module to a pretrained robotic manipulation policy, enabling real‑time residual adjustments in joint space without retraining the base policy. ORPA allows immediate correction of execution errors and distribution shifts, improving success rates and recovery on precision‑sensitive tasks compared to baseline policies and rule‑based inverse kinematics. The method is evaluated on the ALOHA platform, showing its effectiveness in real‑time deployment scenarios.

By Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai, Yukiyasu Domae

llms rag robotics

arXiv Machine Learning

Jun 19

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation

arXiv:2510. 08807v2 Announce Type: replace-cross Abstract: From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities.

By Zhenyu Zhao, Hongyi Jing, Xiawei Liu, Jiageng Mao, Abha Jha, Hanwen Yang, Rong Xue, Sergey Zakharov, Vitor Guizilini, Yue Wang

agents robotics multimodal benchmarks