Co²Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction
Overview
Co²Skill combines whole-body interaction and dexterous manipulation via a unified policy, enabling sequential task execution in indoor environments. Evaluated on tasks like sitting, standing, and object manipulation, it uses observation masks and goal-conditioned curriculum for skill composition.
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- arXiv Robotics — research abstractsCo²Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction
This research presents Co²Skill, a framework that combines whole-body scene interaction and dexterous object manipulation through a unified policy. The method uses task and phase-dependent observation masks, along with a goal-conditioned curriculum, to enable sequential task execution and simultaneous scene interaction. It is evaluated on tasks such as sitting, standing, climbing, and goal-directed manipulation, demonstrating skill composition in indoor environments.
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