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simmediumlocomotionmetric · varies
EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Models
Description
Deploying humanoid robots in real-world settings is fundamentally challenging, as it demands tight integration of perception, locomotion, and manipulation under partial-information observations and dynamically changing environments. As well as transitioning robustly between sub-tasks of different types. Towards addressing these challenges, we propose a novel task - EgoActing, which requires directly grounding high-level instructions into various, precise, spatially aware humanoid actions. We fur