HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
Note that this dimension covers the whole- body joints excluding the 6 wrist degrees of freedom (3 per hand), as they are not involved in the interaction tasks
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HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.