HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
•V olunteers: Participants wore a specialized motion cap- ture suit (equipped with optical markers on key body landmarks) to record whole-body kinematics
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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.