VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Humanoid robots hold immense potential for real-world assistance, yet agile interaction with objects in unstructured environments demands tightly coupled whole-body coordination. Despite recent advancements, current controllers face a critical deployment gap. They rely heavily on dense reference trajectories and perfect state observability, which inherently limits physical generalization. We present Vision Guided Agile Interaction Control (VAIC), a unified framework that bridges this gap by operating exclusively on onboard depth, historical proprioception, and a decoupled user command interface. VAIC employs a two-stage distillation paradigm. First, a privileged teacher policy masters diverse interaction skills using precise object kinematics and exact environmental states. Second, a deployable student policy distills these capabilities by replacing full body tracking with velocity targets across multiple axes and an interaction indicator for each frame. The student utilizes a recurrent object adaptation module to implicitly infer unobservable object dynamics from raw depth streams and proprioception. Evaluations and real-world deployments on the humanoid robot demonstrate that a single VAIC policy successfully executes highly diverse dynamic tasks. These tasks include box carrying, cart interaction, and skateboarding, consistently outperforming baselines and advancing autonomous humanoid deployment.

Links and sources

• Official / arXiv page
• PDF from original source

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