HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

2026-09-21

AI Summary

为解决机器人在杂乱环境中搬运物体的问题，本文提出HOTICE框架，通过解耦势场和双代理强化学习实现协调避障与全身控制。

Abstract

Object transportation is a fundamental capability for humanoid robots operating in real-world, human-centric environments, yet existing methods struggle when clutter constrains free space around both the robot and its carried payload. We present HOTICE, a whole-body humanoid learning framework for transporting objects through such cluttered environments. First, we introduce Humanoid-Object Decoupled Potential Fields, which jointly encode collision-avoidance guidance for the robot and the carried object, enabling coordinated, obstacle-aware motion for both. Second, to address the large action space inherent to whole-body loco-manipulation, we design a dual-agent reinforcement learning architecture that decouples upper- and lower-body control while preserving whole-body coordination via shared state observations and rewards. To train a policy that generalizes across diverse cluttered scenes, we further employ a specialist-to-generalist distillation strategy, in which privileged teacher policies are distilled into a single deployable student policy. We evaluate HOTICE in MuJoCo simulation and on a real Unitree G1 humanoid, demonstrating effective and robust object transportation across cluttered scenarios for objects of varying shapes. Our results show that HOTICE reliably coordinates whole-body motion and object-aware collision avoidance, generalizing effectively to previously unseen cluttered environments while achieving strong performance in sim2real deployment.

Problem

• Object transportation
• Humanoid robots
• Cluttered environments
• Collision avoidance

Innovation

• Whole-Body Humanoid
• Decoupled Potential Fields
• Dual-Agent Reinforcement Learning
• Specialist-to-Generalist Distillation