Distilling a single-agent carrying policy into a reusable low-level skill lets a high-level policy coordinate humanoids for sofa carrying, sofa pushing, and four-agent transport
The work proposes a hierarchical framework that relabels successful rollouts of a single-agent physics-based human-object interaction teacher as short-horizon object-proxy displacement supervision, distilling a frozen reusable Object-oriented Motion Skill, while downstream training only learns a high-level policy that emits region-wise proxy-motion commands; in Isaac Gym with 4096 parallel environments the skill achieves better tracking than InterPhys and SkillMimic on both teacher-rollout and random proxy-motion targets, and supports two-human sofa carrying, four-human H-box and cross-box carrying, and two- and four-human sofa pushing.