HoMMI: Learning Whole-Body Mobile Manipulation
leto__jean · x · 2026-07-16
This post introduces the team's HoMMI (Whole-Body Mobile Manipulation Interface), which aims to learn whole-body mobile manipulation directly from human demonstrations.
Key highlights include:
- Combines egocentric + UMI data.
- Requires zero teleoperation (0 teleop), learning dual-arm + whole-body manipulation capabilities directly from human demos.
- Covers long-horizon navigation and active perception.
- This work will be presented at relevant RSS sessions and the poster session.
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