Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction

• URL: http://arxiv.org/abs/2603.01126v1
• Date: Sun, 01 Mar 2026 14:19:59 GMT
• Title: Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
• Abstract summary: We introduce Perceptive Root-guided Humanoid-Object Interaction, Pro-HOI.<n>Pro-HOI is a generalizable framework for robust humanoid loco-manipulation.<n> Empirical validation on a Unitree G1 robot demonstrates that Pro-HOI significantly outperforms baselines in generalization and robustness.
• Score: 57.252599851031505
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Executing reliable Humanoid-Object Interaction (HOI) tasks for humanoid robots is hindered by the lack of generalized control interfaces and robust closed-loop perception mechanisms. In this work, we introduce Perceptive Root-guided Humanoid-Object Interaction, Pro-HOI, a generalizable framework for robust humanoid loco-manipulation. First, we collect box-carrying motions that are suitable for real-world deployment and optimize penetration artifacts through a Signed Distance Field loss. Second, we propose a novel training framework that conditions the policy on a desired root-trajectory while utilizing reference motion exclusively as a reward. This design not only eliminates the need for intricate reward tuning but also establishes root trajectory as a universal interface for high-level planners, enabling simultaneous navigation and loco-manipulation. Furthermore, to ensure operational reliability, we incorporate a persistent object estimation module. By fusing real-time detection with Digital Twin, this module allows the robot to autonomously detect slippage and trigger re-grasping maneuvers. Empirical validation on a Unitree G1 robot demonstrates that Pro-HOI significantly outperforms baselines in generalization and robustness, achieving reliable long-horizon execution in complex real-world scenarios.

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