robotics
The Humanoid Learns to Move With a Partner
A hierarchical controller conditions whole-body robot motion on a human partner and anticipates motion through temporary occlusion.
Summary
A hierarchical controller conditions whole-body robot motion on a human partner and anticipates motion through temporary occlusion.
Social Humanoid uses a shared tokenized representation for human and robot movement, then a low-level controller executes the generated motion on a 29-degree-of-freedom Unitree G1. Adaptive retargeting across five motion-capture datasets yields a 260-hour interaction benchmark. The authors report coordinated behavior across varied interaction types in simulation and real-world demonstrations. The evidence concerns the released system and scenarios, not open-ended social understanding.
Why it matters
A hierarchical controller conditions whole-body robot motion on a human partner and anticipates motion through temporary occlusion.
Limits and context
- The evidence concerns the released system and scenarios, not open-ended social understanding.
Key claims
A hierarchical controller conditions whole-body robot motion on a human partner and anticipates motion through temporary occlusion.
Qualification: The evidence concerns the released system and scenarios, not open-ended social understanding.
Evidence: source-2026-11-06-010
Sources
- arXiv preprint 2611.08407, original v1arXiv · primary research
Corrections
No corrections have been recorded for this story.