A humanoid tracking policy is trained with contact-following rewards and trajectory augmentation to decouple physical contact from keypoint geometry, enabling runtime contact control.
arXiv preprint arXiv:2409.20514 (2024)
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CoorDex distills privileged body and hand motion teachers into proprioceptive latent priors and composes them via shared-context residual RL heads to enable continuous high-DoF dexterous loco-manipulation.
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
A literature review of pHHI that proposes a taxonomy of interaction types by modality and engagement level while outlining pathways to integrate control, intent, and modeling for more seamless humanoid-human collaboration.
citing papers explorer
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ContactMimic: Humanoid Object Interaction via Contact Control
A humanoid tracking policy is trained with contact-following rewards and trajectory augmentation to decouple physical contact from keypoint geometry, enabling runtime contact control.
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CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
CoorDex distills privileged body and hand motion teachers into proprioceptive latent priors and composes them via shared-context residual RL heads to enable continuous high-DoF dexterous loco-manipulation.
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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.
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Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next
A literature review of pHHI that proposes a taxonomy of interaction types by modality and engagement level while outlining pathways to integrate control, intent, and modeling for more seamless humanoid-human collaboration.