The Humanoid Uses Its Torso as Part of the Grasp

Dexterous manipulation is often reduced to the hands. Whole-Body Dexterity first generates feasible body-contact grasps, trains reinforcement-learning experts to move between them and distills those experts into one policy using proprioception and object geometry. Transferred without hardware-specific fine-tuning to a Unitree G1, the controller repositioned a basketball and box around the torso and completed a teleoperated sequence that stowed, carried and placed a box. Across the reported real-world tasks, it completed 90 percent of trials, versus 18 percent for direct retargeting and 4 percent for a generalist whole-body controller. The task set is narrow and still uses coarse human references.