← Back to Benchmarks
simmediumhumanoidmetric · varies
PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes
Description
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most existing whole-body controllers lack exteroceptive awareness of the surrounding environment, rendering them insufficient for stable task execution in complex, unstructured scenarios.To address this challenge, we propose PILOT, a unified single-stage reinforcement