Whole-body Mobile Manipulation for Humanoid Robots
Locomotion • Whole-body Control • Contact-rich Interaction • Dexterous Manipulation • Teleoperation • Sim-to-Real
What we do
We develop learning-based systems for whole-body mobile manipulation on humanoids — enabling robots to move, reach, interact, and recover robustly in complex real-world environments.
Research themes
- Whole-body mobile manipulation: coordinated locomotion + manipulation, task-centric control
- Contact-rich whole-body control: balance, recovery, physical interaction, safety-aware execution
- Dexterous manipulation: bimanual skills, multimodal policies (vision / touch / proprioception)
- Teleoperation & data: scalable demonstration capture, retargeting, motion tracking, dataset curation
- Sim-to-real deployment: adaptation, residual learning, reproducible training/eval/deployment toolchains
Links
- GitHub: https://github.com/BAAI-Humanoid