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Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Motion tracking can reproduce humanoid loco-manipulation from a single retargeted motion clip, but a policy trained on a fixed reference primarily reproduces its demonstrated transport outcome. Although the source trajectory visits intermediate object displacements, transport termination is demonstrated only at its endpoint. We identify this mismatch as the termination-versus-passage gap: intermediate displacements are observed as passage states rather than termination-complete outcomes. We introduce Distance-Conditioned Reference Recomposition (DCRR), which relocates the demonstrated terminat

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