外观
论文arXiv 2610.0929121 天前
Co²Skill：面向长时程人-环境交互的基于技能组合的全身控制
原文链接：Co${}^{2}$Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction（arXiv 2610.09291 · 发布日期：2026-10-07）
Co${}^{2}$Skill: Whole-Body Control via Skill Composition for Long-Horizon Human-Environment Interaction
Co²Skill通过统一策略整合场景交互与灵巧操作，并在坐站攀爬、楼梯通行、目标操作及室内技能组合中验证。
核心要点
- 复杂非结构环境需要无缝结合全身场景交互与灵巧物体操作。
- 基于预训练运动先验，策略用任务和阶段相关观测掩码选择信息。
- 引入目标条件loco-manipulation课程，结合部分参考引导和多初始状态探索。
- 评估坐、站、攀爬、楼梯通行、目标导向操作，以及序列执行和随机条件。
验证范围与局限：验证范围包括若干交互与操作任务、序列执行、随机条件及室内环境技能组合展示。
英文摘要 (Abstract)
Achieving human-level dexterity in complex, unstructured environments requires the seamless integration of whole-body scene interaction and dexterous object manipulation skills. While existing physics-based controllers generate physically plausible behaviors in each domain, they largely address these two capabilities independently. In this paper, we present Co${}^{2}$Skill that integrates scene interaction and dexterous manipulation through a unified policy formulation. Built on a pretrained motion prior, the policy uses task and phase dependent observation masks to select information relevant to the current interaction goals. We introduce a goal-conditioned loco-manipulation curriculum that combines partial reference guidance for precision with exploration from varied initial states while allowing goal-directed execution beyond the demonstrated trajectories. We further introduce a cross-task curriculum that jointly trains individual skills and selected task sequences, preserving physical states across task boundaries and maintaining grasps during subsequent scene interactions. Together, these support sequential task execution and simultaneous scene interaction with object manipulation. We evaluate sitting, standing, climbing, stair traversal, and goal-directed manipulation, together with sequential execution and with random different conditions. Additionally, we demonstrate skill compositions in indoor environments, illustrating their integration within the same control formulation.
作者：Jeonghwan Kim, Hyeonwoo Kim, Hanbyul Joo
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