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simmediumhumanoidmetric · varies
HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
Description
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated objects with independent dynamics and non-holonomic constraints. These introduce control challenges from coupling forces and occlusions. We present HAIC, a unified framework for robust interaction across diverse object dynamics without external state estimatio