{"id":"https://openalex.org/W7213675617","doi":null,"title":"ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots","display_name":"ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots","publication_year":2026,"publication_date":"2026-09-16","ids":{"openalex":"https://openalex.org/W7213675617"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2609.19340","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19340","pdf_url":"https://arxiv.org/pdf/2609.19340","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.19340","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068860731","display_name":"Zejie Tian","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Zejie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002807265","display_name":"Ruibing Hou","orcid":"https://orcid.org/0000-0003-2480-6538","observed_orcids":["https://orcid.org/0000-0003-2480-6538"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Ruibing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041045297","display_name":"Bingpeng Ma","orcid":"https://orcid.org/0000-0001-8984-205X","observed_orcids":["https://orcid.org/0000-0001-8984-205X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Bingpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015011965","display_name":"B\u00f6rje F. Karlsson","orcid":"https://orcid.org/0000-0001-8925-360X","observed_orcids":["https://orcid.org/0000-0001-8925-360X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Karlsson, B\u00f6rje F.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5152172412","display_name":"Shiguang Shan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shan, Shiguang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7202000021934509,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7202000021934509,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.15520000457763672,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.09709999710321426,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.847000002861023},{"id":"https://openalex.org/keywords/loco-manipulation","display_name":"loco-manipulation","score":0.8859999775886536},{"id":"https://openalex.org/keywords/whole-body-control","display_name":"whole-body control","score":0.8140000104904175},{"id":"https://openalex.org/keywords/teacher-student-knowledge-distillation","display_name":"teacher-student distillation","score":0.7480000257492065},{"id":"https://openalex.org/keywords/robot-object-interaction","display_name":"robot-object interaction","score":0.7139999866485596},{"id":"https://openalex.org/keywords/proprioception","display_name":"proprioception","score":0.593999981880188},{"id":"https://openalex.org/keywords/sim-to-real-transfer","display_name":"sim-to-real transfer","score":0.699999988079071},{"id":"https://openalex.org/keywords/unitree-g1","display_name":"Unitree G1","score":0.781000018119812}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.762499988079071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.671500027179718},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.6208999752998352},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5920000076293945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5644000172615051},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5249000191688538},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5077999830245972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5077000260353088},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4535999894142151},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3416999876499176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3391999900341034},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33739998936653137},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3370000123977661},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3328999876976013},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.32749998569488525},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3172999918460846},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2992999851703644},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.29739999771118164},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2964000105857849},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.28459998965263367},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.25999999046325684},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2596000134944916},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.2563000023365021},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:arXiv.org:2609.19340","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19340","pdf_url":"https://arxiv.org/pdf/2609.19340","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.19340","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19340","pdf_url":"https://arxiv.org/pdf/2609.19340","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7213675617.pdf","grobid_xml":"https://content.openalex.org/works/W7213675617.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W2736601468","https://openalex.org/W2965293401","https://openalex.org/W4414691579","https://openalex.org/W4414927347","https://openalex.org/W4414973433","https://openalex.org/W4415251265","https://openalex.org/W4416027215","https://openalex.org/W4416780398","https://openalex.org/W4416979580","https://openalex.org/W4417072892","https://openalex.org/W7084075839","https://openalex.org/W7106466341","https://openalex.org/W7126263443","https://openalex.org/W7130306087","https://openalex.org/W7137988790","https://openalex.org/W7159660084","https://openalex.org/W7161980559","https://openalex.org/W7162144347","https://openalex.org/W7163539690","https://openalex.org/W7163671449","https://openalex.org/W7164013602","https://openalex.org/W7164013887","https://openalex.org/W7166129198","https://openalex.org/W7166547088","https://openalex.org/W7202294264"],"related_works":["https://openalex.org/W7091186515","https://openalex.org/W7115600136","https://openalex.org/W4417072892","https://openalex.org/W7216563400","https://openalex.org/W4390480962","https://openalex.org/W7203754228","https://openalex.org/W7165618297","https://openalex.org/W4412654327","https://openalex.org/W7204190558","https://openalex.org/W4414973433"],"abstract_inverted_index":{"Humanoid":[0],"loco-manipulation":[1,18],"requires":[2,101],"adaptive":[3],"whole-body":[4,38,95],"coordination":[5],"to":[6,22,79,93,141,164],"seamlessly":[7],"integrate":[8],"locomotion":[9],"and":[10,32,89,118,125,151,159],"physical":[11],"interaction.":[12],"Despite":[13],"recent":[14],"advances,":[15],"learning":[16,36],"autonomous":[17,51],"remains":[19],"challenging":[20],"due":[21],"the":[23,33,99,126,143],"scarcity":[24],"of":[25,35,60],"diverse,":[26],"physically":[27,65],"executable":[28,66],"robot-object":[29],"interaction":[30],"data":[31],"difficulty":[34],"unified":[37,82],"control":[39],"directly":[40,92],"from":[41,162],"onboard":[42,148],"observations.":[43],"We":[44,108],"present":[45],"ViLoMan,":[46],"a":[47,75,81,133,137],"scalable":[48],"framework":[49,78],"for":[50],"humanoid":[52,140],"loco-manipulation.":[53],"ViLoMan":[54,110],"first":[55],"transforms":[56],"partial":[57],"kinematic":[58],"demonstrations":[59],"human-object":[61],"interactions":[62],"into":[63],"complete,":[64],"robot":[67,119],"trajectories.":[68],"It":[69],"then":[70],"leverages":[71],"these":[72],"trajectories":[73],"within":[74],"teacher-student":[76],"distillation":[77],"learn":[80],"policy":[83,100,135],"that":[84,132],"maps":[85],"egocentric":[86],"depth":[87,149],"observations":[88],"proprioceptive":[90],"measurements":[91],"joint-level":[94],"actions.":[96],"During":[97],"deployment,":[98],"neither":[102],"reference":[103],"motions":[104],"nor":[105],"intermediate":[106],"commands.":[107],"evaluate":[109],"on":[111],"door-closing":[112],"tasks":[113],"across":[114,156],"diverse":[115],"door":[116],"configurations":[117],"initial":[120],"conditions":[121],"in":[122],"both":[123],"simulation":[124,163],"real":[127],"world.":[128],"Experimental":[129],"results":[130],"demonstrate":[131],"single":[134],"enables":[136],"Unitree":[138],"G1":[139],"complete":[142],"full":[144],"task":[145,157],"using":[146],"only":[147],"sensing":[150],"proprioception,":[152],"while":[153],"generalizing":[154],"robustly":[155],"variations":[158],"transferring":[160],"effectively":[161],"reality.":[165],"Project":[166],"page:":[167],"viloman-anonymous.pages.dev.":[168]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-09-20T00:00:00"}
