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GLoRI: Closed-Loop Whole-Body Tracking with Global-Local Reference Interaction for Humanoid Loco-Manipulation

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Humanoid loco-manipulation requires accurate whole-body motion tracking in the world frame for physical interaction. While local references preserve motion structure, they lack explicit constraints on absolute spatial placement, leading to accumulated global errors. Existing globally aware approaches augment teleoperation policies with global observations but do not explicitly integrate global correction with local motion guidance, limiting autonomous tracking accuracy. We present GLoRI, a closed-loop whole-body controller that integrates structured global reference and feedback with local mot

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