HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
- Published
- Source
- arXiv
- Paper number
- 326
- Field
- Robotics
- arXiv ID
- 2606.06493
Key points
- We propose a concise, modular interface between task planning and whole-body control.
- We distill three experts, whole-body motion tracking, locomotion, and fall recovery, into a mixture of experts.
- We achieve SOTA speed tracking and a wide manipulation workspace on Unitree G1 hardware.
- A VLM-based agent planner enables control through natural-language commands.
- It performs a wide range of tasks without task-specific data or controller fine-tuning.
Paper links
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