Praxis: Distilling Physical Interaction Priors from Egocentric Videos for Generalizable Whole-Body Manipulation

arXiv:2609.30735 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Code: https://github.com/teal024/FoundationPose-plus-plus

Project page: https://edem-ai.github.io/Praxis

Terminology

• Calibration — 31× in this paper · explained in 7 episodes
• Generalization — 13× in this paper · explained in 13 episodes
• Robustness — 8× in this paper · explained in 5 episodes
• Fine-Tuning — 6× in this paper · explained in 5 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Fidelity — 4× in this paper · explained in 2 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Verification — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Hierarchical Framework — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Whole-Body Control — 2× in this paper
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Continual Learning — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Verifier — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Gemini Robotics: Bringing AI into the Physical World
• Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
• TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
• Emergence of Human to Robot Transfer in Vision-Language-Action Models
• WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
• FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• Real-Time Verification of Embodied Reasoning for Generative Skill Acquisition
• Learning Precise Affordances from Egocentric Videos for Robotic Manipulation
• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• Proximal Policy Optimization Algorithms
• MediaPipe Hands: On-device Real-time Hand Tracking
• LISA: Reasoning Segmentation via Large Language Model
• WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control
• HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation

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