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Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

We present blind, whole-body manipulation skills on a Unitree G1 humanoid using only onboard proprioception, without cameras, markers, force-torque, or tactile sensors. Despite this minimal sensing, the trained policies exhibit surprising capability across qualitatively different tasks: push-resilient bipedal walking without IMU feedback, active soccer ball trapping with a foot, seeking and lifting a suitcase by its handle, and mounting a randomly positioned skateboard. We argue that these capabilities arise from a key underappreciated signal: the way the joint encoder readouts evolve under pu

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