loco-manipulation

OASIS is a simulation-data-driven framework for humanoid loco-manipulation that uses 3D generative models and hierarchical visuomotor policies. It achieves better zero-shot performance than real-robot training by leveraging domain randomization in simulation.

GRAIL generates diverse humanoid manipulation and locomotion data using 3D assets and video foundation models, enabling effective sim-to-real transfer for humanoid robot control with high real-world success rates.