Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
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arXiv
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| Autores principales: | , , , , , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Materias: | |
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| _version_ | 1866911442977947648 |
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| author | Nai, Ruiqian Zheng, Boyuan Zhao, Junming Zhu, Haodong Dai, Sicong Chen, Zunhao Hu, Yihang Hu, Yingdong Zhang, Tong Wen, Chuan Gao, Yang |
| author_facet | Nai, Ruiqian Zheng, Boyuan Zhao, Junming Zhu, Haodong Dai, Sicong Chen, Zunhao Hu, Yihang Hu, Yingdong Zhang, Tong Wen, Chuan Gao, Yang |
| contents | Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated autonomous skills remain limited and are typically restricted to controlled environments. In this paper, we present the Humanoid Manipulation Interface (HuMI), a portable and efficient framework for learning diverse whole-body manipulation tasks across various environments. HuMI enables robot-free data collection by capturing rich whole-body motion using portable hardware. This data drives a hierarchical learning pipeline that translates human motions into dexterous and feasible humanoid skills. Extensive experiments across five whole-body tasks--including kneeling, squatting, tossing, walking, and bimanual manipulation--demonstrate that HuMI achieves a 3x increase in data collection efficiency compared to teleoperation and attains a 70% success rate in unseen environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_06643 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations Nai, Ruiqian Zheng, Boyuan Zhao, Junming Zhu, Haodong Dai, Sicong Chen, Zunhao Hu, Yihang Hu, Yingdong Zhang, Tong Wen, Chuan Gao, Yang Robotics Artificial Intelligence Machine Learning Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated autonomous skills remain limited and are typically restricted to controlled environments. In this paper, we present the Humanoid Manipulation Interface (HuMI), a portable and efficient framework for learning diverse whole-body manipulation tasks across various environments. HuMI enables robot-free data collection by capturing rich whole-body motion using portable hardware. This data drives a hierarchical learning pipeline that translates human motions into dexterous and feasible humanoid skills. Extensive experiments across five whole-body tasks--including kneeling, squatting, tossing, walking, and bimanual manipulation--demonstrate that HuMI achieves a 3x increase in data collection efficiency compared to teleoperation and attains a 70% success rate in unseen environments. |
| title | Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations |
| topic | Robotics Artificial Intelligence Machine Learning |
| url | https://arxiv.org/abs/2602.06643 |