HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

arXiv:2609.25363 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Project page: https://hotice2027.github.io

Terminology

• Distillation — 9× in this paper · explained in 2 episodes
• Action Space — 7× in this paper · explained in 1 episode
• Actor — 6× in this paper · explained in 3 episodes
• Standard Guidance Field — 6× in this paper
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Object-Centric Guidance Field — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Generalization — 3× in this paper · explained in 13 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Generalizability — 2× in this paper · explained in 6 episodes
• APEX — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Graceful Degradation — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
• SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation
• PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes
• VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
• Proximal Policy Optimization Algorithms

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