Papers

Whole-Body Dexterity

This preprint from Amazon and university co-authors teaches a Unitree G1 humanoid to hold and shift bulky objects with its arms and torso, the way a person tucks a box under one arm, instead of relying on its hands alone. On a real robot the learned controller finished 90% of whole-body tasks, against 18% for direct motion retargeting and 4% for NVIDIA's SONIC whole-body controller.