← 研踪 PaperTrailarXiv:2611.01659 · v1
HuG: Learning Humanoid Whole-Body Affordance-Aware Grasping with Active Perception
首次提交 2026-11-01 15:11
版本更新 2026-11-01 15:11
雷达观测 2026-11-04 23:43
摘要
Acquiring objects in human environments is hard for humanoids: targets are partially occluded under egocentric viewpoints, and reaching them demands coordinated whole-body motion that keeps the target visible and reachable while the base stays stable. We present HuG, a framework for whole-body affordance-aware grasping with active perception that couples perception and action through a Perceive-Align-Grasp pipeline: belief-driven active perception resolves occlusion by treating viewpoint as an explicit decision variable; a point-cloud-conditioned affordance policy proposes whole-body grasps; and an affordance-aware alignment stage repositions the body to the most executable configuration. A key insight is that, on a floating base, kinematic validity is not enough: we curate training data with controller-in-the-loop dynamics simulation, rejecting 73% of kinematically valid grasps that would destabilize the deployment controller, so the policy learns kinodynamically feasible affordances. Trained entirely in simulation with zero real demonstrations, HuG attains 87.5% real-world success on a multi-level shelf task, generalizes to novel objects, and holds at least 73% success at every tested height. Beyond generalizing within its training distribution, the policy extrapolates spatially: at scale in simulation it succeeds at table heights well below any seen during training, indicating that kinodynamically filtered synthetic data grounds affordances in object geometry and whole-body feasibility rather than in memorized configurations.
作者备注：CoRL 2026. Project page: https://xuanbinpeng.com/hug
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v1 · 2026-11-01 15:11 · 最新观测版本
HuG: Learning Humanoid Whole-Body Affordance-Aware Grasping with Active Perception
Acquiring objects in human environments is hard for humanoids: targets are partially occluded under egocentric viewpoints, and reaching them demands coordinated whole-body motion that keeps the target visible and reachable while the base stays stable. We present HuG, a framework for whole-body affordance-aware grasping with active perception that couples perception and action through a Perceive-Align-Grasp pipeline: belief-driven active perception resolves occlusion by treating viewpoint as an explicit decision variable; a point-cloud-conditioned affordance policy proposes whole-body grasps; and an affordance-aware alignment stage repositions the body to the most executable configuration. A key insight is that, on a floating base, kinematic validity is not enough: we curate training data with controller-in-the-loop dynamics simulation, rejecting 73% of kinematically valid grasps that would destabilize the deployment controller, so the policy learns kinodynamically feasible affordances. Trained entirely in simulation with zero real demonstrations, HuG attains 87.5% real-world success on a multi-level shelf task, generalizes to novel objects, and holds at least 73% success at every tested height. Beyond generalizing within its training distribution, the policy extrapolates spatially: at scale in simulation it succeeds at table heights well below any seen during training, indicating that kinodynamically filtered synthetic data grounds affordances in object geometry and whole-body feasibility rather than in memorized configurations.
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