Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip

arXiv:2609.21467 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Fine-Tuning — 9× in this paper · explained in 5 episodes
• Robustness — 9× in this paper · explained in 5 episodes
• Distillation — 5× in this paper · explained in 2 episodes
• Actor — 3× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Distance-Conditioned Reference Recomposition — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode

Sources

• PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
• Proximal Policy Optimization Algorithms
• Towards Adaptable Humanoid Control via Adaptive Motion Tracking
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
• SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
• InterReal: A Unified Physics-Based Imitation Framework for Learning Human-Object Interaction Skills
• Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
• Understanding Hindsight Goal Relabeling from a Divergence Minimization Perspective

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