PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface
To extend manipulation beyond the hands, we present PanTact, a system that learns humanoid whole-body dexterity, the capability to manipulate with any suitable body surface, directly from robot-free human demonstrations.
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Key points
- Humanoid robots have many degrees of freedom and contact surfaces, yet most loco-manipulation research restricts manipulation to the hands and avoids other body contacts with the environment.
- Our key idea is to use contact as manipulation-centric information that transfers across embodiments.
- Contact locations and timing specify the interactions needed to accomplish a task, while the robot chooses how to coordinate its body to realize them within its own physical constraints.
- We deploy PanTact on a Unitree G1 humanoid without additional body contact sensors, demonstrating whole-body dexterity involving body support, pushing, sweeping, and load-sharing.
Sources (1)
- [1]PanTact: Teaching Whole-Body Dexterity with a Wearable Contact InterfacearXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 8, 06:00 PM
To extend manipulation beyond the hands, we present PanTact, a system that learns humanoid whole-body dexterity, the capability to manipulate with any suitable body surface, directly from robot-free human demonstrations.
Humanoid robots have many degrees of freedom and contact surfaces, yet most loco-manipulation research restricts manipulation to the hands and avoids other body contacts with the environment.
Extractive summary: sentences quoted from the sources.
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