{"id":"https://openalex.org/W7130570541","doi":"https://doi.org/10.1109/lra.2026.3666395","title":"DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation","display_name":"DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation","publication_year":2026,"publication_date":"2026-02-19","ids":{"openalex":"https://openalex.org/W7130570541","doi":"https://doi.org/10.1109/lra.2026.3666395"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3666395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3666395","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yuhui Fu","orcid":"https://orcid.org/0009-0008-7719-2684"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhui Fu","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-7719-2684","affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126412473","display_name":"Feiyang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feiyang Xie","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126370015","display_name":"Chaoyi Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119119","display_name":"Beijing Administration Institute","ror":"https://ror.org/02mf18m55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210110145","https://openalex.org/I4210119119"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyi Xu","raw_affiliation_strings":["BeingBeyond, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BeingBeyond, Beijing, China","institution_ids":["https://openalex.org/I4210119119"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046927687","display_name":"Jing Xiong","orcid":"https://orcid.org/0000-0001-8872-5564"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Xiong","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071791208","display_name":"Haoqi Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoqi Yuan","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103979188","display_name":"Zongqing Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongqing Lu","raw_affiliation_strings":["Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3967-2704","affiliations":[{"raw_affiliation_string":"Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20968362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4393","last_page":"4400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.39309999346733093,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.39309999346733093,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.30160000920295715,"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/T12290","display_name":"Human Motion and Animation","score":0.10920000076293945,"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-robot","display_name":"Humanoid robot","score":0.8446999788284302},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5902000069618225},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.47540000081062317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4717999994754791},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.41670000553131104},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.3865000009536743},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37439998984336853},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.3637000024318695},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.3402000069618225}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8446999788284302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6643000245094299},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5922999978065491},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5902000069618225},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.47540000081062317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4717999994754791},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4334999918937683},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.41670000553131104},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3865000009536743},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37439998984336853},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3402000069618225},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3353999853134155},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33500000834465027},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.3319000005722046},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.31130000948905945},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29809999465942383},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.28600001335144043},{"id":"https://openalex.org/C2778589607","wikidata":"https://www.wikidata.org/wiki/Q1250335","display_name":"Animacy","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.27900001406669617},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2775999903678894},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2685999870300293},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.2572999894618988}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3666395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3666395","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4252537786960602,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G6754667821","display_name":null,"funder_award_id":"62476008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8328019060","display_name":null,"funder_award_id":"62450001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Loco-manipulation":[0],"is":[1],"a":[2,51,67,74,78,137,167],"fundamental":[3],"challenge":[4],"for":[5,53,87,104],"humanoid":[6,23,54,106],"robots":[7],"to":[8,59,97,130],"achieve":[9],"versatile":[10],"interactions":[11],"in":[12,22,70,112],"human":[13],"environments.":[14],"Although":[15],"recent":[16],"studies":[17],"have":[18],"made":[19],"significant":[20],"progress":[21],"whole-body":[24,81,91,94,124],"control,":[25],"loco-manipulation":[26,55,133,190],"remains":[27],"underexplored":[28],"and":[29,44,62,100,118,146,157],"often":[30],"relies":[31],"on":[32,166],"hard-coded":[33],"task":[34],"definitions":[35],"or":[36],"costly":[37],"real-world":[38],"data":[39,116,145,154,159],"collection,":[40],"which":[41],"limits":[42],"autonomy":[43],"generalization.":[45],"We":[46],"present":[47],"<bold":[48],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[49],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">DemoHLM</b>,":[50],"framework":[52],"that":[56,76],"achieves":[57],"generalization":[58],"different":[60],"robot":[61,170],"object":[63],"poses":[64],"from":[65],"just":[66],"single":[68],"demonstration":[69],"simulation.":[71],"DemoHLM":[72],"adopts":[73],"hierarchy":[75],"integrates":[77],"low-level":[79],"universal":[80],"controller":[82,92,125],"with":[83,126,172],"high-level":[84],"manipulation":[85,109],"policies":[86],"multiple":[88],"tasks.":[89,134,191],"The":[90,108],"maps":[93],"motion":[95],"commands":[96],"joint":[98],"positions":[99],"provides":[101],"omnidirectional":[102],"mobility":[103],"the":[105,123,141,150,158,177],"robot.":[107],"policies,":[110],"learned":[111],"simulation":[113],"via":[114],"our":[115,153,162],"generation":[117,155],"imitation":[119],"learning":[120],"pipeline,":[121],"command":[122],"closed-loop":[127],"visual":[128],"feedback":[129],"execute":[131],"challenging":[132],"Experiments":[135],"show":[136],"positive":[138],"correlation":[139],"between":[140],"amount":[142],"of":[143,152,161,180],"synthetic":[144],"policy":[147],"performance,":[148],"underscoring":[149],"effectiveness":[151],"pipeline":[156],"efficiency":[160],"approach.":[163],"Real-world":[164],"experiments":[165],"Unitree":[168],"G1":[169],"equipped":[171],"an":[173],"RGB-D":[174],"camera":[175],"validate":[176],"sim-to-real":[178],"transferability":[179],"DemoHLM,":[181],"demonstrating":[182],"robust":[183],"performance":[184],"under":[185],"spatial":[186],"variations":[187],"across":[188],"ten":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-20T00:00:00"}
