FLORE learns force-reactive humanoid loco-manipulation from handheld demos
On three contact-rich robot tasks the force-reactive policy succeeds in 80% of rollouts versus 26.7% for position-only.
Stories per day · 30 days
Relatedrobotics4humanoid3diffusion-policy1egocentric-video1embodied-ai1force-control1foundation-model1humanoid-robots1imitation-learning1motion-generation1motion-retargeting1simulation1teleoperation1unitree-g11vision-language-action1world-models1
7 stories, newest first · one card per story
Stories tagged #loco-manipulation
SP-HLM links sparse poses to whole-body humanoid control
A vision-language-action model predicts five sparse poses, then a tracker combines them with a learned motion prior.
Ropedia W0 models loco-manipulation across humans and robots
After distillation, the authors say it supports real-time, minute-long rollouts and live VR interaction.
λ_0 humanoid model uses 500 hours of human loco-manipulation data
Zero-shot transfer to Unitree G1 reached 90.0% on SIMPLE and 62.5% on real loco-manipulation tasks.
InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation
InterMimicGen grows humanoid loco-manipulation data by retargeting human demos and self-evolving a physics tracker.
Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation
PRISM turns a few real videos into counterfactual data so a humanoid carries novel objects without real-world fine-tuning.
OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport
OTRetarget jointly retargets humanoid and object motion from human demos using entropic optimal transport.