HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
arXiv:2606.06493v1 Announce Type: cross Abstract: For a humanoid robot to be deployed in the real world, the choice of command space (i.e., the interface between task planning and whole-body control) is crucial. Existing whole-body controllers typically demand dense kinematic or spatial references that planners struggle to synthesize from task semantics. We instead propose a compact, explicit interface that is intuitive, general, modular, and expressive enough for diverse manipulation skills. To this end, we introduce HANDOFF, a single humanoid whole-body controller that follows this interface
The increasing sophistication of AI models and the demand for more adaptable robotic systems are converging, making advances in whole-body control for humanoids a critical next step.
Improved whole-body control interfaces for humanoids are crucial for their broader deployment in real-world, unstructured environments, moving beyond constrained factory settings.
The development of a more intuitive and general command space for humanoid robots simplifies the programming and deployment of complex manipulation skills.
- · Humanoid robotics developers
- · Logistics and manufacturing sectors
- · AI software companies
- · Tasks requiring highly specialized human labor in dangerous or repetitive enviro
- · Legacy robotics systems with complex programming interfaces
Humanoid robots become capable of performing a wider array of complex tasks autonomously.
Accelerated adoption of humanoids in various industries due to reduced programming complexity and increased versatility.
Significant shifts in labor markets as humanoids take on increasingly sophisticated 'white-collar' manual tasks, alongside existing blue-collar roles.
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