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simmediumhumanoidmetric · varies
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Description
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrained: retargeted data are often scarce or low-quality; methods struggle to scale to large skill repertoires; and, most importantly, they rely on tracking predefined motion references rather than generating behavior from perception and high-level task specifications. To address these limitations, we propose ULTRA, a unif