ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrained: retargeted data are often scarce or low-quality; methods struggle to scale to large skill repertoires; and, most importantly, they rely on tracking predefined motion references rather than generating behavior from perception and high-level task specifications. To address these limitations, we propose ULTRA, a unified framework with two key components. First, we introduce a physics-driven neural retargeting algorithm that translates large-scale motion capture to humanoid embodiments while preserving physical...
| Authors | Xialin He, Sirui Xu, Xinyao Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 March 2026 |
| Last updated at source | 18 September 2026 |
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