Co squared Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction

arXiv:2610.09291 · cs.RO, cs.GR · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.GR

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Data Augmentation — 4× in this paper · explained in 7 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Embeddings — 3× in this paper · explained in 2 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Distillation — 2× in this paper · explained in 2 episodes
• Downstream Tasks — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• BEHAVE: Dataset and Method for Tracking Human Object Interactions
• Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
• Interaction Replica: Tracking Human-Object Interaction and Scene Changes From Human Motion
• Object Motion Guided Human Motion Synthesis
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Kimodo: Scaling Controllable Human Motion Generation

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