LessMimic: Versatile Humanoid-Object Interaction with Unified Distance Field Representations
Overview
This research presents LessMimic, a framework enabling versatile whole-body interaction for humanoid robots with everyday objects without relying on motion-reference inputs at inference. The system uses a single whole-body policy steered by root commands and an interaction-type flag, conditioned on compact representations derived from distance fields and local surface directions. Through visual distillation, it supports egocentric-depth-based deployment without motion capture. The framework maintains robust performance across object scales from 0.4x to 1.6x on tasks including PickUp, SitStand, Push, and Carry, while supporting sequential composition of heterogeneous skills with 62.1% success on five-task sequences and 23.5% at 15 instances.
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Reported quantity · object scale range: 0.4 other · Basis not reported · Differing source assertions
“from short histories of distance-field-derived surface distances and local surface directions. This geometry-conditioned interface enables command-steered control while adapting contact behavior to local object geometry. Through visual distillation, LessMimic further enables egocentric-depth-based deployment for MoCap-free sensing. Across object scales from 0.4x to 1.6x, LessMimic maintains robust performance over fo”
Exact source · revision 1Source owner not reported
Reported quantity · object scale range: 1.6 other · Basis not reported · Differing source assertions
“from short histories of distance-field-derived surface distances and local surface directions. This geometry-conditioned interface enables command-steered control while adapting contact behavior to local object geometry. Through visual distillation, LessMimic further enables egocentric-depth-based deployment for MoCap-free sensing. Across object scales from 0.4x to 1.6x, LessMimic maintains robust performance over fo”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalLessMimic: Versatile Humanoid-Object Interaction with Unified Distance Field Representations
This research presents LessMimic, a framework enabling versatile whole-body interaction for humanoid robots with everyday objects without relying on motion-reference inputs at inference. The system uses a single whole-body policy steered by root commands and an interaction-type flag, conditioned on compact representations derived from distance fields and local surface directions. Through visual distillation, it supports egocentric-depth-based deployment without motion capture. The framework maintains robust performance across object scales from 0.4x to 1.6x on tasks including PickUp, SitStand, Push, and Carry, while supporting sequential composition of heterogeneous skills with 62.1% success on five-task sequences and 23.5% at 15 instances.
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