CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation

arXiv:2606.27676v1 Announce Type: new Abstract: Achieving everyday tasks with humanoid robots requires coordinating stable locomotion with versatile manipulation. However, existing whole-body controllers still face significant challenges. Methods trained solely via command sampling, without motion-capture (MoCap) data, often struggle with sparse rewards and require carefully tuned curricula to converge. This is especially problematic for upper-body control, where the resulting motions deviate fr...