DexWeave: Learning Dexterous Humanoid Loco-Manipulation from Human Demonstrations

arXiv:2609.34724 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Code: https://github.com/ubisoft/ubisoft-laforge-animation-dataset

Project page: https://jiaxin-lu.github.io/humoto

Terminology

• Actor — 28× in this paper · explained in 3 episodes
• Alignment — 20× in this paper · explained in 1 episode
• Transformer — 12× in this paper · explained in 2 episodes
• Regularization — 7× in this paper · explained in 3 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Aggregation — 4× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Distillation — 3× in this paper · explained in 2 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Closed-Loop Control — 2× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Decoder — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptive Sampling — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Proximal Policy Optimization — 1× in this paper
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• GMT: General Motion Tracking for Humanoid Whole-Body Control
• HumDex: Humanoid Dexterous Manipulation Made Easy
• OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
• CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
• $\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• Proximal Policy Optimization Algorithms
• ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
• TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
• Track Any Motions under Any Disturbances
• MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation

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