{"id":"https://openalex.org/W7133535253","doi":"https://doi.org/10.48550/arxiv.2603.03243","title":"HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations","display_name":"HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133535253","doi":"https://doi.org/10.48550/arxiv.2603.03243"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.03243","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03243","pdf_url":null,"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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.03243","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128047797","display_name":"Xiaomeng Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Xiaomeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128074697","display_name":"Jisang Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Jisang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128076661","display_name":"Han Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Han","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128044482","display_name":"Eric Cousineau","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cousineau, Eric","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001142410","display_name":"Aditya Bhat","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bhat, Aditya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128041301","display_name":"Jose Barreiros","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Barreiros, Jose","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128070375","display_name":"Dian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Dian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Bohg, Jeannette","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bohg, Jeannette","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Song, Shuran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Shuran","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":false,"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":0.30070000886917114,"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":0.30070000886917114,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.1615000069141388,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.1234000027179718,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6029999852180481},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.5648999810218811},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5371000170707703},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.48249998688697815},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4302999973297119},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42739999294281006},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4113999903202057},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.40549999475479126}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.744700014591217},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6574000120162964},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6029999852180481},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.5648999810218811},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5371000170707703},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.48249998688697815},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4302999973297119},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42739999294281006},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4113999903202057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41040000319480896},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.40549999475479126},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4004000127315521},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.3513999879360199},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C115121344","wikidata":"https://www.wikidata.org/wiki/Q6887140","display_name":"Mobile interaction","level":3,"score":0.31139999628067017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.31119999289512634},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.30979999899864197},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C206776904","wikidata":"https://www.wikidata.org/wiki/Q1758389","display_name":"Mixed reality","level":3,"score":0.26109999418258667},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2572999894618988},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.03243","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03243","pdf_url":null,"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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.03243","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03243","pdf_url":null,"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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6679546236991882,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,24,68],"present":[1],"Whole-Body":[2],"Mobile":[3],"Manipulation":[4],"Interface":[5],"(HoMMI),":[6],"a":[7,53,74,85,91],"data":[8,45],"collection":[9],"and":[10,43,61,90,115,119],"policy":[11,65,77],"learning":[12],"framework":[13],"that":[14,94],"learns":[15],"whole-body":[16,92,100,116],"mobile":[17,38,110],"manipulation":[18,111],"directly":[19],"from":[20],"robot-free":[21],"human":[22],"demonstrations.":[23],"augment":[25],"UMI":[26],"interfaces":[27],"with":[28,73],"egocentric":[29,50],"sensing":[30,51],"to":[31],"capture":[32],"the":[33],"global":[34],"context":[35],"required":[36],"for":[37],"manipulation,":[39],"enabling":[40],"portable,":[41],"robot-free,":[42],"scalable":[44],"collection.":[46],"However,":[47],"naively":[48],"incorporating":[49],"introduces":[52],"larger":[54],"human-to-robot":[55],"embodiment":[56,81],"gap":[57,72],"in":[58],"both":[59],"observation":[60],"action":[62,88],"spaces,":[63],"making":[64],"transfer":[66],"difficult.":[67],"explicitly":[69],"bridge":[70],"this":[71],"cross-embodiment":[75],"hand-eye":[76,96],"design,":[78],"including":[79],"an":[80],"agnostic":[82],"visual":[83],"representation;":[84,89],"relaxed":[86],"head":[87],"controller":[93],"realizes":[95],"trajectories":[97],"through":[98],"coordinated":[99],"motion":[101],"under":[102],"robot-specific":[103],"physical":[104],"constraints.":[105],"Together,":[106],"these":[107],"enable":[108],"long-horizon":[109],"tasks":[112],"requiring":[113],"bimanual":[114],"coordination,":[117],"navigation,":[118],"active":[120],"perception.":[121],"Results":[122],"are":[123],"best":[124],"viewed":[125],"on:":[126],"https://hommi-robot.github.io":[127]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-05T00:00:00"}
