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WoCoCo: Learning Whole-Body Humanoid Control
with Sequential Contacts

Chong Zhang*   Wenli Xiao*   Tairan He   Guanya Shi  
*equal contributions
CoRL 2024

Paper Summary Introduction Code

Overview

Clap Dance

Versatile Parkour Jumping

Bidirectional Cliff Traversal

Anywhere-to-Anywhere Loco-manipulation

Beyond humanoids: Dino Loco-manipulation (Dribble Ball to Track "WoCoCo")

Video 1

Video 2

Video 3

Video 4

Video 5

Video 6

The dino is manipulating the ball with different end-effectors: Left front foot, Right front foot, left rear foot, right rear foot, head, and tail.

Media

BibTeX

@misc{zhang2024wococo,
      title={WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts}, 
      author={Chong Zhang and Wenli Xiao and Tairan He and Guanya Shi},
      year={2024},
      eprint={2406.06005},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}