OIL: An Object Interaction Layer for Humanoid Whole-Body Control
OIL: An Object Interaction Layer for Humanoid Whole-Body Control
This research proposes OIL, an Object Interaction Layer that extends the kinematic command interface of whole-body control to include desired object motion and contact. OIL enables a single learned policy to perform non-prehensual interactions like pushing, pulling, and transport without task-specific retraining. The method is validated in simulation and shows sim-to-real transfer on the Digit humanoid robot.
Source: arXiv Robotics — research abstracts · Read original article ↗
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le-body behavior while preserving locomotion and balance. This design enables a single learned policy to execute non-prehensile interactions, including pushing, pulling, two-arm pick-and-place, and locomotion-coupled transport, directly from object-level kinematic targets without task-specific retraining. In simulation, we demonstrate that object-level commands improve performance over robot-centric controllers while
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Source：arXiv Robotics — research abstracts · arxiv.org