Vision Guided Agile Interaction Control
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VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands
arXiv:2606.09286v1 Announce Type: new 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.