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cs.RO2026
Whole-Body Dexterity
Conor Mc Gartoll, An Dang, Pranay Thangeda +5
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and slidi…
cs.RO2026
HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping
Runpei Dong, Ziyan Li, Arjun Gupta +2
Visual loco-manipulation of arbitrary in-the-wild objects requires accurate end-effector (EE) control and a generalizable understanding of the scene from visual inputs (eg, RGB-D i…