A decoupled humanoid controller combines IK-based arm control with an RL locomotion policy conditioned on a CVAE motion prior, improving manipulation precision while maintaining walking stability.
Open-television: Teleoperation with immersive active visual feedback,
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Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
A decoupled humanoid controller combines IK-based arm control with an RL locomotion policy conditioned on a CVAE motion prior, improving manipulation precision while maintaining walking stability.