ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots

arXiv:2609.19340 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Adaptation — 9× in this paper · explained in 1 episode
• Distillation — 9× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Covariate Shift — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Proximal Policy Optimization — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Agentic Task — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Door-Closing Success Rate — 1× in this paper
• Fidelity — 1× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• University of Chinese Academy of Sciences — 1× in this paper

Sources

• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
• VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
• Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
• OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
• VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
• Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
• StageACT: Stage-Conditioned Imitation for Robust Humanoid Door Opening
• OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
• VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
• ExoActor: Exocentric Video Generation as Generalizable Interactive Humanoid Control
• GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
• SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
• Kimodo: Scaling Controllable Human Motion Generation
• DoorGym: A Scalable Door Opening Environment And Baseline Agent

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