A latent-diffusion-image-to-keyframe pipeline enables whole-body trajectory optimization to solve long-horizon humanoid loco-manipulation tasks in simulation, outperforming contact-only guidance.
Humanoid loco-manipulation planning based on graph search and reachability maps,
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Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
A latent-diffusion-image-to-keyframe pipeline enables whole-body trajectory optimization to solve long-horizon humanoid loco-manipulation tasks in simulation, outperforming contact-only guidance.