SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

arXiv:2606.27581v1 Announce Type: new Abstract: Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich tasks, as pure kinematic tracking cannot resolve the physical ambiguities of interacting with objects and uneven terrain. To address this, we introduce SceneBot, a unified motion-tracking framework capable of handling freespace locomotion, terrain traversal, and whole-body manipulation. SceneBot conditions a single policy on both reference mo...