OIL: Object Interaction Layer for Humanoid Control
Overview
OIL extends whole-body control to include object motion and contact, enabling non-prehensile interactions without task-specific retraining. Sim-to-real transfer validated on Digit humanoid robot. arXiv:2610.14033v1","latest":"OIL introduces an Object Interaction Layer for humanoid whole-body control, allowing non-prehensile interactions like pushing and pulling without retraining. Sim-to-real transfer demonstrated on Digit robot."}</think>
Generated from attributed reports · Updated 55 minutes ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“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”
Exact source · revision 1Source owner not reported
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsOIL: 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.
Event coverage history
Current attention 9·Peak within the comparable range 9（2026-10-14 07:00 UTC）·Change within the comparable range over 24 hours –
The trend compares participants observed continuously; its scope may be narrower than current attention totals. Hover or click to explore hourly observations, or use the left and right arrow keys.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).