Preprint Open access
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data
Humanoid robots still struggle to plan contact-rich whole-body manipulation from egocentric RGB and proprioception. Workhorse learns such manipulation from robot-free human demonstrations. A visual planner predicts five-link targets: the poses of the torso, both wrists, and both feet. A reinforcement-learning whole-bod …