← Back to Benchmarks
simmediumhumanoidmetric · varies
AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation
Description
This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery. Unlike prior imitation learning-based approaches that rely on human demonstrations and are often brittle to disturbances, AdaptManip aims to train a robust loco-manipulation policy via reinforcement learning without human demonstrations or teleoperation data. The proposed framework consists of three coupled compone