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This paper pairs classical inverse kinematics with learned components, including a neural forward model and a simulation-trained tracking policy, to control a humanoid's end-effector while it grasps objects. The reported 2.44 cm tracking error, a 5.5x improvement over the prior best, comes from the authors' own benchmarks, and real-world results are shown only on a limited set of objects and surface heights. For readers, the useful takeaway is the modular design: large vision models handle scene understanding while a narrow learned controller handles precise motion, a split that may matter more for scaling than end-to-end training.
HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping
arXiv:2602.16705v4 Announce Type: replace Abstract: Visual loco-manipulation of arbitrary in-the-wild objects requires accurate end-effector (EE) control and a generalizable understanding of the scene from visual inputs (eg, RGB-D images). Existing imitation and sim2real methods jointly learn both these aspects via monolithic end-to-end learning and are thus hard to scale. In this work, we bring to bear the best tools for each of these problems -- large vision models for generalizable scene understanding and simulated training for accurate EE control -- leading to an overall modular loco-manipulation system that exhibits strong generalization. Our core technical innovation is HERO, an accurate residual-aware EE tracking policy made possible by combining classical robotics with machine learning. It uses a) inverse kinematics to convert residual end-effector targets into reference trajectories, b) a learned neural forward model for accurate forward kinematics, and c) goal adjustment and replanning. Together, these innovations reduce the end-effector tracking error to 2.44cm, outperforming the strongest prior method by 5.5x. Our overall system operates in diverse real-world environments, from offices to coffee shops, where the robot reliably grasps various everyday objects (eg, mugs, apples, toys) on surfaces ranging from 43cm to 92cm in height. Systematic modular and end-to-end tests demonstrate the effectiveness of our proposed design. We believe our advances open up new ways of training humanoids to interact with daily objects. Project page: https://hero-humanoid.github.io/
Abstract:Visual loco-manipulation of arbitrary in-the-wild objects requires accurate end-effector (EE) control and a generalizable understanding of the scene from visual inputs (eg, RGB-D images). Existing imitation and sim2real methods jointly learn both these aspects via monolithic end-to-end learning and are thus hard to scale. In this work, we bring to bear the best tools for each of these problems -- large vision models for generalizable scene understanding and simulated training for accurate EE control -- leading to an overall modular loco-manipulation system that exhibits strong generalization. Our core technical innovation is HERO, an accurate residual-aware EE tracking policy made possible by combining classical robotics with machine learning. It uses a) inverse kinematics to convert residual end-effector targets into reference trajectories, b) a learned neural forward model for accurate forward kinematics, and c) goal adjustment and replanning. Together, these innovations reduce the end-effector tracking error to 2.44cm, outperforming the strongest prior method by 5.5x. Our overall system operates in diverse real-world environments, from offices to coffee shops, where the robot reliably grasps various everyday objects (eg, mugs, apples, toys) on surfaces ranging from 43cm to 92cm in height. Systematic modular and end-to-end tests demonstrate the effectiveness of our proposed design. We believe our advances open up new ways of training humanoids to interact with daily objects. Project page: this https URL
Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)
arXiv:2602.16705 [cs.RO]
(or arXiv:2602.16705v4 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2602.16705 Focus to learn more arXiv-issued DOI via DataCite
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