# Humanoid Loco-Manipulation

Humanoid whole-body manipulation usually needs full-body human motion trajectories or wrist force sensors. FORGE splits commands into four granularities, velocity navigation, planar footholds, wrist poses and an optional force command, trains without full-body human motion references, and at deployment consumes only pelvis-relative bilateral wrist poses and coarse commands. A momentum observer plus a learned correction estimates wrist-equivalent force from joint states and reconstructed PD torques, with no wrist force/torque sensor. In a squat-and-lift task across four payloads, one diffusion policy driving FORGE succeeded in all 20 trials empty and at 0.5 kg, and in 18 of 20 at 1 kg and 2 kg.

Humanoid whole-body manipulation usually needs full-body human motion trajectories or wrist force sensors. FORGE splits commands into four granularities, velocity navigation, planar footholds, wrist poses and an optional force command, trains without full-body human motion references, and at deployment consumes only pelvis-relative bilateral wrist poses and coarse commands. A momentum observer plus a learned correction estimates wrist-equivalent force from joint states and reconstructed PD torques, with no wrist force/torque sensor. In a squat-and-lift task across four payloads, one diffusion policy driving FORGE succeeded in all 20 trials empty and at 0.5 kg, and in 18 of 20 at 1 kg and 2 kg.

Everyday humanoid work such as pushing a cart, moving a box or wiping a surface needs controlled contact force, not just tracked hand motion. FLoRe makes force a shared interface across demonstration, policy and whole-body control: two handheld grippers with six-axis force/torque sensors record hand motion and contact wrenches without a robot, a diffusion policy predicts per-hand force commands from those demonstrations, and a whole-body controller tracks them by integrating the measured force error. On a Unitree G1 across three contact-rich tasks, the force-reactive policy succeeded in 80% of rollouts, against 26.7% for a position-only policy trained on the same demonstrations and run by the same controller.

Everyday humanoid work such as pushing a cart, moving a box or wiping a surface needs controlled contact force, not just tracked hand motion. FLoRe makes force a shared interface across demonstration, policy and whole-body control: two handheld grippers with six-axis force/torque sensors record hand motion and contact wrenches without a robot, a diffusion policy predicts per-hand force commands from those demonstrations, and a whole-body controller tracks them by integrating the measured force error. On a Unitree G1 across three contact-rich tasks, the force-reactive policy succeeded in 80% of rollouts, against 26.7% for a position-only policy trained on the same demonstrations and run by the same controller.