AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid

arXiv:2609.33484 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Verification — 8× in this paper · explained in 2 episodes
• Intrinsic Dimension — 5× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Generative Model — 3× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Hysteresis — 2× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Post-Selection — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Verifier — 1× in this paper · explained in 2 episodes

Sources

• AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
• IKDiffuser: a Diffusion-based Generative Inverse Kinematics Solver for Kinematic Trees
• Whole-Body Inverse Kinematics with Graph Diffusion
• Expressive Whole-Body Control for Humanoid Robots
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

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