Ep#90: From Capable Controllers to Deployable Humanoid Systems

Podcast: RoboPapers · Chris Paxton and Michael Cho

Opublikowano: 2026-07-15

We want humanoid robots to be able to perform complex, long-horizon tasks in the real world — putting away the groceries or cleaning a room, for example. This requires diverse loco-manipulation skills, which can be easily parameterized to handle object affordances and interact with the world around it safely. In HANDOFF, Lizhi Yang proposes a 10-D learned whole body controller, which can be converted to whole body actions, and which can be used by a VLM-driven agentic planner to perform complex, multi-step manipulation actions in the real world. We then discuss how it’s possible to depl...