Coordinated Humanoid Manipulation with Choice Policies
Published:Dec 31, 2025 18:59
•1 min read
•ArXiv
Analysis
This paper addresses the challenge of achieving robust whole-body coordination in humanoid robots, a critical step towards their practical application in human environments. The modular teleoperation interface and Choice Policy learning framework are key contributions. The focus on hand-eye coordination and the demonstration of success in real-world tasks (dishwasher loading, whiteboard wiping) highlight the practical impact of the research.
Key Takeaways
- •Proposes a system for coordinated humanoid manipulation using a modular teleoperation interface and Choice Policy.
- •Choice Policy, an imitation learning approach, generates and scores multiple candidate actions.
- •Demonstrates superior performance compared to diffusion policies and behavior cloning.
- •Highlights the importance of hand-eye coordination in long-horizon tasks.
- •Validates the approach on real-world tasks like dishwasher loading and whiteboard wiping.
Reference
“Choice Policy significantly outperforms diffusion policies and standard behavior cloning.”