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cs.RO2026
HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum
Chenxin Liu, Qingzhou Lu, Guangxiao Yang +4
General motion tracking and teleoperation offer a promising path to scalable humanoid skill acquisition, yet most existing frameworks are validated on compact platforms or without…
cs.RO2026
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations
Zehui Zhao, Yuxuan Zhao, Gaojing Zhang +3
Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a promising data source for learning humanoid loco-manipulation. Howev…