HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model

• URL: http://arxiv.org/abs/2602.11758v1
• Date: Thu, 12 Feb 2026 09:34:35 GMT
• Title: HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
• Abstract summary: We present HAIC, a framework for robust interaction across diverse object dynamics without external state estimation.<n>Our key contribution is a dynamics predictor that estimates high-order object states (velocity, acceleration) solely from proprioceptive history.<n> Experiments on a humanoid robot show HAIC achieves high success rates in agile tasks.
• Score: 56.4392302336014
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated objects with independent dynamics and non-holonomic constraints. These introduce control challenges from coupling forces and occlusions. We present HAIC, a unified framework for robust interaction across diverse object dynamics without external state estimation. Our key contribution is a dynamics predictor that estimates high-order object states (velocity, acceleration) solely from proprioceptive history. These predictions are projected onto static geometric priors to form a spatially grounded dynamic occupancy map, enabling the policy to infer collision boundaries and contact affordances in blind spots. We use asymmetric fine-tuning, where a world model continuously adapts to the student policy's exploration, ensuring robust state estimation under distribution shifts. Experiments on a humanoid robot show HAIC achieves high success rates in agile tasks (skateboarding, cart pushing/pulling under various loads) by proactively compensating for inertial perturbations, and also masters multi-object long-horizon tasks like carrying a box across varied terrain by predicting the dynamics of multiple objects.

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