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.

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 Computer Vision.

• agents
• diffusion
• reinforcement-learning
• robotics
• fine-tuning
• multimodal