发表机构
Tsinghua IIIS; Tsinghua College AI; Dalian University of Technology; The Chinese University of Hong Kong（清华大学交叉信息研究院; 清华大学人工智能学院; 大连理工大学; 香港中文大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
Weave提出统一框架，从人类演示中学习人形机器人全身灵巧移动操作，通过接触感知重定向和策略联合控制29个身体及12个手指关节，在九物体上达92.5%训练成功率，并发布约9000条物理执行轨迹。
AI 中文摘要
学习人形机器人与物体的交互需要协调全身平衡、移动和灵巧的手部接触，以同时控制机器人和物体的运动。人类演示提供了协调交互的示例，但将这些行为迁移到人形机器人需要学习在不同本体和动力学条件下建立并维持有效接触。我们提出了Weave，一个从捕捉的人类演示中学习全身灵巧人形机器人-物体交互的统一框架。Weave首先通过接触感知的重定向和接近运动补全，将捕捉到的人-物交互转换为可执行的机器人-物体参考。其核心是一个接触和几何感知的策略，该策略联合控制29个身体关节和12个驱动手指关节，跨越多个物体和交互序列。在九个物体上的评估显示，在训练过的交互上成功率达到92.5%，并且无需任何额外训练，在训练期间从未见过的序列上成功率达到65.0%。我们还发布了约9000个物理执行的滚动轨迹，总计约23小时，提供了带有接触标注的机器人-物体轨迹，用于下游交互策略学习和物理一致的人-物交互运动生成。项目网站：此https URL
英文摘要
Learning humanoid-object interaction requires coordinating whole-body balance, locomotion, and dexterous hand contact to control both robot and object motion. Human demonstrations provide examples of coordinated interaction, but transferring these behaviors to humanoid robots requires learning how to establish and maintain effective contacts under different embodiments and dynamics. We present Weave, a unified framework for learning whole-body dexterous humanoid-object interaction from captured human demonstrations. Weave first converts captured human-object interactions into executable robot-object references through contact-aware retargeting and approach-motion completion. At its core is a contact- and geometry-aware policy that jointly commands 29 body joints and 12 actuated finger joints across multiple objects and interaction sequences. Evaluation across nine objects yields a 92.5% success rate on trained interactions and, without any additional training, 65.0% on sequences never seen during training. We additionally release ~9,000 physically executed rollouts spanning ~23 hours, providing robot-object trajectories with contact annotations for downstream interaction-policy learning and physically consistent HOI motion generation. Project website: https://xiaohu-art.github.io/Weave/
Comments10 pages, 5 figures. Project website: https://xiaohu-art.github.io/Weave/
