Hugging Face Trending Papers
HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
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arXiv Machine Learning
Oct 8
HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
arXiv:2610.08970v1 Announce Type: cross Abstract: Humanoid loco-manipulation of large, heavy objects demands forceful interaction across the entire body. However, such payloads shift a humanoid's cen...
arXiv Machine Learning
Oct 8
Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
arXiv:2610.04238v2 Announce Type: replace-cross Abstract: Humanoid robots could transport payloads substantially heavier than themselves by pulling passive wheeled vehicles instead of carrying the lo...
arXiv AI
Jul 20
Interaction-Aware Whole-Body Control for Compliant Object Transport
arXiv:2603. 03751v2 Announce Type: replace-cross Abstract: Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whole-body control unreliable, especially in close-contact support tasks.
arXiv AI
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Whole-Body Dexterity
Whole-Body Dexterity (WBD) is a framework that enables robots to use their entire body and appendages as contact surfaces for grasping and manipulating objects. The approach generates a dataset of feasible whole-body grasps, trains reinforcement‑learning experts on a repositioning objective, and distills them into a single policy that relies on proprioception and object geometry. The distilled policy achieves zero‑shot transfer to a real Unitree G1 robot, successfully completing complex tasks such as stowing a box under one arm and moving it from a shelf to a table, with a 90% success rate in real‑world trials.
Hugging Face Trending Papers
Jun 22
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
Humanoid loco-manipulation is often simplified into a stop-and-go process: walking to an object, stopping to manipulate it, and then resuming locomotion. It also commonly relies on low degree-of-freedom (DoF) end effectors that behave like an open-close grasp primitive.
arXiv AI
Jul 2
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
arXiv:2506. 12851v3 Announce Type: replace-cross Abstract: Humanoid robots are promising to acquire various skills by imitating human behaviors.