{"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","2377-3774"],"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":"https://openalex.org/A5101542257","display_name":"Yuhui Fu","orcid":"https://orcid.org/0000-0002-7487-4857"},"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":2,"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":0.1239812,"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","2377-3774"],"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":19,"referenced_works":["https://openalex.org/W2961368225","https://openalex.org/W3035624836","https://openalex.org/W4385430538","https://openalex.org/W4385430674","https://openalex.org/W4385489997","https://openalex.org/W4401414436","https://openalex.org/W4402354047","https://openalex.org/W4402754209","https://openalex.org/W4403337227","https://openalex.org/W4413146472","https://openalex.org/W4413925041","https://openalex.org/W4414051111","https://openalex.org/W4414079071","https://openalex.org/W4414079207","https://openalex.org/W4414079229","https://openalex.org/W4414079231","https://openalex.org/W4415121671","https://openalex.org/W4415796706","https://openalex.org/W7115925189"],"related_works":[],"abstract_inverted_index":{"Loco-manipulation":[0],"is":[1],"a":[2,48,64,71,75,134,164],"fundamental":[3],"challenge":[4],"for":[5,50,84,101],"humanoid":[6,23,51,103],"robots":[7],"to":[8,56,94,127],"achieve":[9],"versatile":[10],"interactions":[11],"in":[12,22,67,109],"human":[13],"environments.":[14],"Although":[15],"recent":[16],"studies":[17],"have":[18],"made":[19],"significant":[20],"progress":[21],"whole-body":[24,78,88,91,121],"control,":[25],"loco-manipulation":[26,52,130,187],"remains":[27],"underexplored":[28],"and":[29,44,59,97,115,143,154],"often":[30],"relies":[31],"on":[32,163],"hard-coded":[33],"task":[34],"definitions":[35],"or":[36],"costly":[37],"real-world":[38],"data":[39,113,142,151,156],"collection,":[40],"which":[41],"limits":[42],"autonomy":[43],"generalization.":[45],"We":[46],"presentDemoHLM,":[47],"framework":[49],"that":[53,73],"achieves":[54],"generalization":[55],"different":[57],"robot":[58,167],"object":[60],"poses":[61],"from":[62],"just":[63],"single":[65],"demonstration":[66],"simulation.":[68],"DemoHLM":[69],"adopts":[70],"hierarchy":[72],"integrates":[74],"low-level":[76],"universal":[77],"controller":[79,89,122],"with":[80,123,169],"high-level":[81],"manipulation":[82,106],"policies":[83],"multiple":[85],"tasks.":[86,131,188],"The":[87,105],"maps":[90],"motion":[92],"commands":[93],"joint":[95],"positions":[96],"provides":[98],"omnidirectional":[99],"mobility":[100],"the":[102,120,138,147,155,174],"robot.":[104],"policies,":[107],"learned":[108],"simulation":[110],"via":[111],"our":[112,150,159],"generation":[114,152],"imitation":[116],"learning":[117],"pipeline,":[118],"command":[119],"closed-loop":[124],"visual":[125],"feedback":[126],"execute":[128],"challenging":[129],"Experiments":[132],"show":[133],"positive":[135],"correlation":[136],"between":[137],"amount":[139],"of":[140,149,158,177],"synthetic":[141],"policy":[144],"performance,":[145],"underscoring":[146],"effectiveness":[148],"pipeline":[153],"efficiency":[157],"approach.":[160],"Real-world":[161],"experiments":[162],"Unitree":[165],"G1":[166],"equipped":[168],"an":[170],"RGB-D":[171],"camera":[172],"validate":[173],"sim-to-real":[175],"transferability":[176],"DemoHLM,":[178],"demonstrating":[179],"robust":[180],"performance":[181],"under":[182],"spatial":[183],"variations":[184],"across":[185],"ten":[186]},"counts_by_year":[],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2026-02-20T00:00:00"}