CHOREO: Every Humanoid Skill as a Trajectory

arXiv:2609.22274 · cs.RO · Submitted 2026-09-11 · Read on arXiv

cs.RO

Submitted: 2026-09-11

Updated: 2026-09-11

Terminology

• Benchmark — 13× in this paper · explained in 2 episodes
• Generative Model — 8× in this paper · explained in 2 episodes
• Generative Models — 8× in this paper · explained in 3 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Agentic Task — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Provenance — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
• Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement
• Switch: Learning Agile Skills Switching for Humanoid Robots
• Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness
• CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
• RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
• HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
• OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
• Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents

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