[2410.21229] HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots

<?xml version="1.0" encoding="UTF-8"?> <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <head> <title>[2410.21229] HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots</title> <meta name="viewport" content="width=device-width, initial-scale=1"> <link rel="apple-touch-icon" sizes="180x180" href="/static/browse/0.3.4/images/icons/apple-touch-icon.png"> <link rel="icon" type="image/png" sizes="32x32" href="/static/browse/0.3.4/images/icons/favicon-32x32.png"> <link rel="icon" type="image/png" sizes="16x16" href="/static/browse/0.3.4/images/icons/favicon-16x16.png"> <link rel="manifest" href="/static/browse/0.3.4/images/icons/site.webmanifest"> <link rel="mask-icon" href="/static/browse/0.3.4/images/icons/safari-pinned-tab.svg" color="#5bbad5"> <meta name="msapplication-TileColor" content="#da532c"> <meta name="theme-color" content="#ffffff"> <link rel="stylesheet" type="text/css" media="screen" href="/static/browse/0.3.4/css/arXiv.css?v=20240822" /> <link rel="stylesheet" type="text/css" media="print" href="/static/browse/0.3.4/css/arXiv-print.css?v=20200611" /> <link rel="stylesheet" type="text/css" media="screen" href="/static/browse/0.3.4/css/browse_search.css" /> <script language="javascript" src="/static/browse/0.3.4/js/accordion.js" /></script> <link rel="canonical" href="https://arxiv.org/abs/2410.21229"/> <meta name="description" content="Abstract page for arXiv paper 2410.21229: HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots"><meta property="og:type" content="website" /> <meta property="og:site_name" content="arXiv.org" /> <meta property="og:title" content="HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots" /> <meta property="og:url" content="https://arxiv.org/abs/2410.21229v1" /> <meta property="og:image" content="/static/browse/0.3.4/images/arxiv-logo-fb.png" /> <meta property="og:image:secure_url" content="/static/browse/0.3.4/images/arxiv-logo-fb.png" /> <meta property="og:image:width" content="1200" /> <meta property="og:image:height" content="700" /> <meta property="og:image:alt" content="arXiv logo"/> <meta property="og:description" content="Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while tabletop manipulation prioritizes upper-body joint angle tracking. Existing approaches typically train individual policies tailored to a specific command space, limiting their transferability across modes. We present the key insight that full-body kinematic motion imitation can serve as a common abstraction for all these tasks and provide general-purpose motor skills for learning multiple modes of whole-body control. Building on this, we propose HOVER (Humanoid Versatile Controller), a multi-mode policy distillation framework that consolidates diverse control modes into a unified policy. HOVER enables seamless transitions between control modes while preserving the distinct advantages of each, offering a robust and scalable solution for humanoid control across a wide range of modes. By eliminating the need for policy retraining for each control mode, our approach improves efficiency and flexibility for future humanoid applications."/> <meta name="twitter:site" content="@arxiv"/> <meta name="twitter:card" content="summary"/> <meta name="twitter:title" content="HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots"/> <meta name="twitter:description" content="Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation..."/> <meta name="twitter:image" content="https://static.arxiv.org/icons/twitter/arxiv-logo-twitter-square.png"/> <meta name="twitter:image:alt" content="arXiv logo"/> <link rel="stylesheet" media="screen" type="text/css" href="/static/browse/0.3.4/css/tooltip.css"/><link rel="stylesheet" media="screen" type="text/css" href="https://static.arxiv.org/js/bibex-dev/bibex.css?20200709"/> <script src="/static/browse/0.3.4/js/mathjaxToggle.min.js" type="text/javascript"></script> <script src="//code.jquery.com/jquery-latest.min.js" type="text/javascript"></script> <script src="//cdn.jsdelivr.net/npm/js-cookie@2/src/js.cookie.min.js" type="text/javascript"></script> <script src="//cdn.jsdelivr.net/npm/dompurify@2.3.5/dist/purify.min.js"></script> <script src="/static/browse/0.3.4/js/toggle-labs.js?20241022" type="text/javascript"></script> <script src="/static/browse/0.3.4/js/cite.js" type="text/javascript"></script><meta name="citation_title" content="HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots" /><meta name="citation_author" content="He, Tairan" /><meta name="citation_author" content="Xiao, Wenli" /><meta name="citation_author" content="Lin, Toru" /><meta name="citation_author" content="Luo, Zhengyi" /><meta name="citation_author" content="Xu, Zhenjia" /><meta name="citation_author" content="Jiang, Zhenyu" /><meta name="citation_author" content="Kautz, Jan" /><meta name="citation_author" content="Liu, Changliu" /><meta name="citation_author" content="Shi, Guanya" /><meta name="citation_author" content="Wang, Xiaolong" /><meta name="citation_author" content="Fan, Linxi" /><meta name="citation_author" content="Zhu, Yuke" /><meta name="citation_date" content="2024/10/28" /><meta name="citation_online_date" content="2024/10/28" /><meta name="citation_pdf_url" content="http://arxiv.org/pdf/2410.21229" /><meta name="citation_arxiv_id" content="2410.21229" /><meta name="citation_abstract" content="Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while tabletop manipulation prioritizes upper-body joint angle tracking. Existing approaches typically train individual policies tailored to a specific command space, limiting their transferability across modes. We present the key insight that full-body kinematic motion imitation can serve as a common abstraction for all these tasks and provide general-purpose motor skills for learning multiple modes of whole-body control. Building on this, we propose HOVER (Humanoid Versatile Controller), a multi-mode policy distillation framework that consolidates diverse control modes into a unified policy. HOVER enables seamless transitions between control modes while preserving the distinct advantages of each, offering a robust and scalable solution for humanoid control across a wide range of modes. By eliminating the need for policy retraining for each control mode, our approach improves efficiency and flexibility for future humanoid applications." /> </head> <body class="with-cu-identity"> <div class="flex-wrap-footer"> <header> <a href="#content" class="is-sr-only">Skip to main content</a>  <div class="columns is-vcentered is-hidden-mobile" id="cu-identity"> <div class="column" id="cu-logo"> <a href="https://www.cornell.edu/"><img src="/static/browse/0.3.4/images/icons/cu/cornell-reduced-white-SMALL.svg" alt="Cornell University" /></a> </div><div class="column" id="support-ack"> <span id="support-ack-url">We gratefully acknowledge support from the Simons Foundation, <a href="https://info.arxiv.org/about/ourmembers.html">member institutions</a>, and all contributors.</span> <a href="https://info.arxiv.org/about/donate.html" class="btn-header-donate">Donate</a> </div> </div> <div id="header" class="is-hidden-mobile"> <a aria-hidden="true" href="{url_path('ignore_me')}"></a> <div class="header-breadcrumbs is-hidden-mobile"> <a href="/"><img src="/static/browse/0.3.4/images/arxiv-logo-one-color-white.svg" alt="arxiv logo" style="height:40px;"/></a> <span>></span> <a href="/list/cs/recent">cs</a> <span>></span> arXiv:2410.21229 </div> <div class="search-block level-right"> <form class="level-item mini-search" method="GET" action="https://arxiv.org/search"> <div class="field has-addons"> <div class="control"> <input class="input is-small" type="text" name="query" placeholder="Search..." aria-label="Search term or terms" /> <p class="help"><a href="https://info.arxiv.org/help">Help</a> | <a href="https://arxiv.org/search/advanced">Advanced Search</a></p> </div> <div class="control"> <div class="select is-small"> <select name="searchtype" aria-label="Field to search"> <option value="all" selected="selected">All fields</option> <option value="title">Title</option> <option value="author">Author</option> <option value="abstract">Abstract</option> <option value="comments">Comments</option> <option value="journal_ref">Journal reference</option> <option value="acm_class">ACM classification</option> <option value="msc_class">MSC classification</option> <option value="report_num">Report number</option> <option value="paper_id">arXiv identifier</option> <option value="doi">DOI</option> <option value="orcid">ORCID</option> <option value="author_id">arXiv author ID</option> <option value="help">Help pages</option> <option value="full_text">Full text</option> </select> </div> </div> <input type="hidden" name="source" value="header"> <button class="button is-small is-cul-darker">Search</button> </div> </form> </div> </div> <div class="mobile-header"> <div class="columns is-mobile"> <div class="column logo-arxiv"><a href="https://arxiv.org/"><img src="/static/browse/0.3.4/images/arxiv-logomark-small-white.svg" alt="arXiv logo" style="height:60px;" /></a></div> <div class="column logo-cornell"><a href="https://www.cornell.edu/"> <picture> <source media="(min-width: 501px)" srcset="/static/browse/0.3.4/images/icons/cu/cornell-reduced-white-SMALL.svg 400w" sizes="400w" /> <source srcset="/static/browse/0.3.4/images/icons/cu/cornell_seal_simple_black.svg 2x" /> <img src="/static/browse/0.3.4/images/icons/cu/cornell-reduced-white-SMALL.svg" alt="Cornell University Logo" /> </picture> </a></div> <div class="column nav" id="toggle-container" role="menubar"> <button class="toggle-control"><svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512" class="icon filter-white"><title>open search</title><path d="M505 442.7L405.3 343c-4.5-4.5-10.6-7-17-7H372c27.6-35.3 44-79.7 44-128C416 93.1 322.9 0 208 0S0 93.1 0 208s93.1 208 208 208c48.3 0 92.7-16.4 128-44v16.3c0 6.4 2.5 12.5 7 17l99.7 99.7c9.4 9.4 24.6 9.4 33.9 0l28.3-28.3c9.4-9.4 9.4-24.6.1-34zM208 336c-70.7 0-128-57.2-128-128 0-70.7 57.2-128 128-128 70.7 0 128 57.2 128 128 0 70.7-57.2 128-128 128z"/></svg></button> <div class="mobile-toggle-block toggle-target"> <form class="mobile-search-form" method="GET" action="https://arxiv.org/search"> <div class="field has-addons"> <input class="input" type="text" name="query" placeholder="Search..." aria-label="Search term or terms" /> <input type="hidden" name="source" value="header"> <input type="hidden" name="searchtype" value="all"> <button class="button">GO</button> </div> </form> </div> <button class="toggle-control"><svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512" class="icon filter-white" role="menu"><title>open navigation menu</title><path d="M16 132h416c8.837 0 16-7.163 16-16V76c0-8.837-7.163-16-16-16H16C7.163 60 0 67.163 0 76v40c0 8.837 7.163 16 16 16zm0 160h416c8.837 0 16-7.163 16-16v-40c0-8.837-7.163-16-16-16H16c-8.837 0-16 7.163-16 16v40c0 8.837 7.163 16 16 16zm0 160h416c8.837 0 16-7.163 16-16v-40c0-8.837-7.163-16-16-16H16c-8.837 0-16 7.163-16 16v40c0 8.837 7.163 16 16 16z"/ ></svg></button> <div class="mobile-toggle-block toggle-target"> <nav class="mobile-menu" aria-labelledby="mobilemenulabel"> <h2 id="mobilemenulabel">quick links</h2> <ul> <li><a href="https://arxiv.org/login">Login</a></li> <li><a href="https://info.arxiv.org/help">Help Pages</a></li> <li><a href="https://info.arxiv.org/about">About</a></li> </ul> </nav> </div> </div> </div> </div> </header> <main> <div id="content"> <div id="abs-outer"> <div class="leftcolumn"> <div class="subheader"> <h1>Computer Science > Robotics</h1> </div> <div class="header-breadcrumbs-mobile"> <strong>arXiv:2410.21229</strong> (cs) </div> <link rel="stylesheet" type="text/css" href="/static/base/1.0.1/css/abs.css"> <div id="content-inner"> <div id="abs"> <div class="dateline"> [Submitted on 28 Oct 2024]</div> <h1 class="title mathjax"><span class="descriptor">Title:</span>HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots</h1> <div class="authors"><span class="descriptor">Authors:</span><a href="https://arxiv.org/search/cs?searchtype=author&query=He,+T" rel="nofollow">Tairan He</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Xiao,+W" rel="nofollow">Wenli Xiao</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Lin,+T" rel="nofollow">Toru Lin</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Luo,+Z" rel="nofollow">Zhengyi Luo</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Xu,+Z" rel="nofollow">Zhenjia Xu</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Jiang,+Z" rel="nofollow">Zhenyu Jiang</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Kautz,+J" rel="nofollow">Jan Kautz</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Liu,+C" rel="nofollow">Changliu Liu</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Shi,+G" rel="nofollow">Guanya Shi</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Wang,+X" rel="nofollow">Xiaolong Wang</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Fan,+L" rel="nofollow">Linxi Fan</a>, <a href="https://arxiv.org/search/cs?searchtype=author&query=Zhu,+Y" rel="nofollow">Yuke Zhu</a></div> <div id="download-button-info" hidden>View a PDF of the paper titled HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots, by Tairan He and 11 other authors</div> <a class="mobile-submission-download" href="/pdf/2410.21229">View PDF</a> <a class="mobile-submission-download" href="https://arxiv.org/html/2410.21229v1">HTML (experimental)</a> <blockquote class="abstract mathjax"> <span class="descriptor">Abstract:</span>Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while tabletop manipulation prioritizes upper-body joint angle tracking. Existing approaches typically train individual policies tailored to a specific command space, limiting their transferability across modes. We present the key insight that full-body kinematic motion imitation can serve as a common abstraction for all these tasks and provide general-purpose motor skills for learning multiple modes of whole-body control. Building on this, we propose HOVER (Humanoid Versatile Controller), a multi-mode policy distillation framework that consolidates diverse control modes into a unified policy. HOVER enables seamless transitions between control modes while preserving the distinct advantages of each, offering a robust and scalable solution for humanoid control across a wide range of modes. By eliminating the need for policy retraining for each control mode, our approach improves efficiency and flexibility for future humanoid applications. </blockquote>  <div class="metatable"> <table summary="Additional metadata"> <tr> <td class="tablecell label">Comments:</td> <td class="tablecell comments mathjax">Project Page: see <a href="https://hover-versatile-humanoid.github.io/" rel="external noopener nofollow" class="link-external link-https">this https URL</a></td> </tr> <tr> <td class="tablecell label">Subjects:</td> <td class="tablecell subjects"> <span class="primary-subject">Robotics (cs.RO)</span></td> </tr><tr> <td class="tablecell label">Cite as:</td> <td class="tablecell arxivid"><span class="arxivid"><a href="https://arxiv.org/abs/2410.21229">arXiv:2410.21229</a> [cs.RO]</span></td> </tr> <tr> <td class="tablecell label"> </td> <td class="tablecell arxividv">(or <span class="arxivid"> <a href="https://arxiv.org/abs/2410.21229v1">arXiv:2410.21229v1</a> [cs.RO]</span> for this version) </td> </tr> <tr> <td class="tablecell label"> </td> <td class="tablecell arxivdoi"> <a href="https://doi.org/10.48550/arXiv.2410.21229" id="arxiv-doi-link">https://doi.org/10.48550/arXiv.2410.21229</a><div class="button-and-tooltip"> <button class="more-info" aria-describedby="more-info-desc-1"> <svg height="15" role="presentation" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><path fill="currentColor" d="M256 8C119.043 8 8 119.083 8 256c0 136.997 111.043 248 248 248s248-111.003 248-248C504 119.083 392.957 8 256 8zm0 110c23.196 0 42 18.804 42 42s-18.804 42-42 42-42-18.804-42-42 18.804-42 42-42zm56 254c0 6.627-5.373 12-12 12h-88c-6.627 0-12-5.373-12-12v-24c0-6.627 5.373-12 12-12h12v-64h-12c-6.627 0-12-5.373-12-12v-24c0-6.627 5.373-12 12-12h64c6.627 0 12 5.373 12 12v100h12c6.627 0 12 5.373 12 12v24z" class=""></path></svg> <span class="visually-hidden">Focus to learn more</span> </button>  <div role="tooltip" id="more-info-desc-1"> <span class="left-corner"></span> arXiv-issued DOI via DataCite</div> </div> </td> </tr></table> </div> </div> </div> <div class="submission-history"> <h2>Submission history</h2> From: Tairan He [<a href="/show-email/b4631767/2410.21229" rel="nofollow">view email</a>] <br/> <strong>[v1]</strong> Mon, 28 Oct 2024 17:15:24 UTC (12,967 KB)<br/> </div> </div>  <div class="extra-services"> <div class="full-text"> <a name="other"></a> <span class="descriptor">Full-text links:</span> <h2>Access Paper:</h2> <ul> <div id="download-button-info" hidden> View a PDF of the paper titled HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots, by Tairan He and 11 other authors</div><li><a href="/pdf/2410.21229" aria-describedby="download-button-info" accesskey="f" class="abs-button download-pdf">View PDF</a></li><li><a href="https://arxiv.org/html/2410.21229v1" class="abs-button" id="latexml-download-link">HTML (experimental)</a></li><li><a href="/src/2410.21229" class="abs-button download-eprint">TeX Source</a></li><li><a href="/format/2410.21229" class="abs-button download-format">Other Formats</a></li></ul> <div class="abs-license"><a href="http://arxiv.org/licenses/nonexclusive-distrib/1.0/" title="Rights to this article">view license</a></div> </div>  <div class="browse"> Current browse context: <div class="current">cs.RO</div> <div class="prevnext"> <span class="arrow"> <a class="abs-button prev-url" href="/prevnext?id=2410.21229&function=prev&context=cs.RO" accesskey="p" title="previous in cs.RO (accesskey p)" rel="nofollow">< prev</a> </span> <span class="is-hidden-mobile">  |  </span> <span class="arrow"> <a class="abs-button next-url" href="/prevnext?id=2410.21229&function=next&context=cs.RO" accesskey="n" title="next in cs.RO (accesskey n)" rel="nofollow">next ></a> </span><br/> </div><div class="list"> <a class="abs-button abs-button-grey abs-button-small context-new" href="/list/cs.RO/new" rel="nofollow">new</a> <span class="is-hidden-mobile"> | </span> <a class="abs-button abs-button-grey abs-button-small context-recent" href="/list/cs.RO/recent" rel="nofollow">recent</a> <span class="is-hidden-mobile"> | </span><a class="abs-button abs-button-grey abs-button-small context-id" href="/list/cs.RO/2024-10" rel="nofollow">2024-10</a> </div><div class="abs-switch-cat"> Change to browse by: <div class="switch context-change"> <a href="/abs/2410.21229?context=cs" rel="nofollow">cs</a><br class="is-hidden-mobile"> </div> </div> </div> <div class="extra-ref-cite"> <h3>References & Citations</h3> <ul> <li><a class="abs-button abs-button-small cite-ads" href="https://ui.adsabs.harvard.edu/abs/arXiv:2410.21229">NASA ADS</a></li><li><a class="abs-button abs-button-small cite-google-scholar" href="https://scholar.google.com/scholar_lookup?arxiv_id=2410.21229" target="_blank" rel="noopener">Google Scholar</a></li> <li><a class="abs-button abs-button-small cite-semantic-scholar" href="https://api.semanticscholar.org/arXiv:2410.21229" target="_blank" rel="noopener">Semantic Scholar</a></li> </ul> <div style="clear:both;"></div> </div> <div class='extra-ref-cite'> <a id='bib-cite-css' hidden='true' href='/static/browse/0.3.4/css/cite.css'>a</a> <span id='bib-cite-trigger' class="bib-cite-button abs-button">export BibTeX citation</span> <span id='bib-cite-loading' hidden='true'>Loading...</span> </div> <div id='bib-cite-modal' class='bib-modal' hidden='true'> <div class='bib-modal-content'> <div class='bib-modal-title'> <h2>BibTeX formatted citation</h2> <span class='bib-modal-close' >×</span> </div> <div> <textarea id='bib-cite-target' class="bib-citation-content" aria-label="loading the citation">loading...</textarea> </div> <div> <span>Data provided by: </span> <a id='bib-cite-source-api'></a> </div> </div> </div><div class="bookmarks"> <div><h3>Bookmark</h3></div><a class="abs-button abs-button-grey abs-button-small" href="http://www.bibsonomy.org/BibtexHandler?requTask=upload&url=https://arxiv.org/abs/2410.21229&description=HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots" title="Bookmark on BibSonomy"> <img src="/static/browse/0.3.4/images/icons/social/bibsonomy.png" alt="BibSonomy logo"/> </a> <a class="abs-button abs-button-grey abs-button-small" href="https://reddit.com/submit?url=https://arxiv.org/abs/2410.21229&title=HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots" title="Bookmark on Reddit"> <img src="/static/browse/0.3.4/images/icons/social/reddit.png" alt="Reddit logo"/> </a> </div> </div>   <div id="labstabs"> <div class="labstabs"><input type="radio" name="tabs" id="tabone"checked="checked"> <label for="tabone">Bibliographic Tools</label> <div class="tab labs-display-bib"> <h1>Bibliographic and Citation Tools</h1> <div class="toggle"> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="bibex-toggle" type="checkbox" class="lab-toggle"> <span class="slider"></span> <span class="is-sr-only">Bibliographic Explorer Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-bibex">Bibliographic Explorer</span> <em>(<a href="https://info.arxiv.org/labs/showcase.html#arxiv-bibliographic-explorer">What is the Explorer?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="connectedpapers-toggle" type="checkbox" class="lab-toggle" data-script-url="/static/browse/0.3.4/js/connectedpapers.js" aria-labelledby="label-for-connected-papers"> <span class="slider"></span> <span class="is-sr-only">Connected Papers Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-connected-papers">Connected Papers</span> <em>(<a href="https://www.connectedpapers.com/about" target="_blank">What is Connected Papers?</a>)</em> </div> </div><div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="litmaps-toggle" type="checkbox" class="lab-toggle" data-script-url="/static/browse/0.3.4/js/litmaps.js?20210617" aria-labelledby="label-for-litmaps"> <span class="slider"></span> <span class="is-sr-only">Litmaps Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-litmaps">Litmaps</span> <em>(<a href="https://www.litmaps.co/" target="_blank">What is Litmaps?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="scite-toggle" type="checkbox" class="lab-toggle" data-script-url="/static/browse/0.3.4/js/scite.js?20210617" aria-labelledby="label-for-scite"> <span class="slider"></span> <span class="is-sr-only">scite.ai Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-scite">scite Smart Citations</span> <em>(<a href="https://www.scite.ai/" target="_blank">What are Smart Citations?</a>)</em> </div> </div> </div> <div class="labs-content-placeholder labs-display" style="display: none;"></div> <div style="min-height: 15px" id="connectedpapers-output"></div> <div style="min-height: 15px" id="litmaps-open-in"></div> <div style="min-height: 15px" id="scite-open-in"></div> </div> <input type="radio" name="tabs" id="tabtwo"> <label for="tabtwo">Code, Data, Media</label> <div class="tab"> <h1>Code, Data and Media Associated with this Article</h1> <div class="toggle"> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="alphaxiv-toggle" data-script-url="/static/browse/0.3.4/js/alphaxiv.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-alphaxiv"> <span class="slider"></span> <span class="is-sr-only">alphaXiv Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-alphaxiv">alphaXiv</span> <em>(<a href="https://alphaxiv.org/" target="_blank">What is alphaXiv?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="catalyzex-toggle" data-script-url="/static/browse/0.3.4/js/catalyzex.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-cx"> <span class="slider"></span> <span class="is-sr-only">Links to Code Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-cx">CatalyzeX Code Finder for Papers</span> <em>(<a href="https://www.catalyzex.com" target="_blank">What is CatalyzeX?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="dagshub-toggle" data-script-url="/static/browse/0.3.4/js/dagshub.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-dagshub"> <span class="slider"></span> <span class="is-sr-only">DagsHub Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-dagshub">DagsHub</span> <em>(<a href="https://dagshub.com/" target="_blank">What is DagsHub?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="gotitpub-toggle" data-script-url="/static/browse/0.3.4/js/gotitpub.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-gotitpub"> <span class="slider"></span> <span class="is-sr-only">GotitPub Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-gotitpub">Gotit.pub</span> <em>(<a href="http://gotit.pub/faq" target="_blank">What is GotitPub?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="huggingface-toggle" data-script-url="/static/browse/0.3.4/js/huggingface.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-huggingface"> <span class="slider"></span> <span class="is-sr-only">Huggingface Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-huggingface">Hugging Face</span> <em>(<a href="https://huggingface.co/huggingface" target="_blank">What is Huggingface?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="paperwithcode-toggle" data-script-url="/static/browse/0.3.4/js/paperswithcode.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-pwc"> <span class="slider"></span> <span class="is-sr-only">Links to Code Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-pwc">Papers with Code</span> <em>(<a href="https://paperswithcode.com/" target="_blank">What is Papers with Code?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="sciencecast-toggle" data-script-url="/static/browse/0.3.4/js/sciencecast.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-sciencecast"> <span class="slider"></span> <span class="is-sr-only">ScienceCast Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-sciencecast">ScienceCast</span> <em>(<a href="https://sciencecast.org/welcome" target="_blank">What is ScienceCast?</a>)</em> </div> </div> </div> <div id="alphaxiv-output" style="display:none"></div> <div id="catalyzex-output" style="display:none"></div> <div id="dagshub-output" style="display:none"></div> <div id="gotitpub-output" style="display:none"></div> <div id="pwc-output" style="display:none"></div> <div id="pwc-data-output" style="display:none"></div> <div id="sciencecast-output" style="display:none"></div> <div id="huggingface-output" style="display:none"></div> </div> <input type="radio" name="tabs" id="labstabs-demos-input"> <label for="labstabs-demos-input" id="labstabs-demos-label">Demos</label> <div class="tab"> <h1>Demos</h1> <div class="toggle"> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="replicate-toggle" data-script-url="/static/browse/0.3.4/js/replicate.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-replicate"> <span class="slider"></span> <span class="is-sr-only">Replicate Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-replicate">Replicate</span> <em>(<a href="https://replicate.com/docs/arxiv/about" target="_blank">What is Replicate?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="spaces-toggle" data-script-url="/static/browse/0.3.4/js/spaces.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-spaces"> <span class="slider"></span> <span class="is-sr-only">Spaces Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-spaces">Hugging Face Spaces</span> <em>(<a href="https://huggingface.co/docs/hub/spaces" target="_blank">What is Spaces?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="txyz-toggle" data-script-url="/static/browse/0.3.4/js/txyz.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-txyz"> <span class="slider"></span> <span class="is-sr-only">Spaces Toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-txyz">TXYZ.AI</span> <em>(<a href="https://txyz.ai" target="_blank">What is TXYZ.AI?</a>)</em> </div> </div> </div> <div id="replicate-output"></div> <div id="spaces-output"></div> <div id="txyz-output"></div> </div> <input type="radio" name="tabs" id="tabfour"> <label for="tabfour">Related Papers</label> <div class="tab"> <h1>Recommenders and Search Tools</h1> <div class="toggle"> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="influenceflower-toggle" data-script-url="/static/browse/0.3.4/js/influenceflower.js" type="checkbox" class="lab-toggle" aria-labelledby="label-for-influenceflower"> <span class="slider"></span> <span class="is-sr-only">Link to Influence Flower</span> </label> </div> <div class="column lab-name"> <span id="label-for-influenceflower">Influence Flower</span> <em>(<a href="https://influencemap.cmlab.dev/" target="_blank">What are Influence Flowers?</a>)</em> </div> </div> <div class="columns is-mobile lab-row"> <div class="column lab-switch"> <label class="switch"> <input id="core-recommender-toggle" type="checkbox" class="lab-toggle" aria-labelledby="label-for-core"> <span class="slider"></span> <span class="is-sr-only">Core recommender toggle</span> </label> </div> <div class="column lab-name"> <span id="label-for-core">CORE Recommender</span> <em>(<a href="https://core.ac.uk/services/recommender">What is CORE?</a>)</em> </div> </div></div> <div id="influenceflower-output"></div> <div id="influenceflower-output-graph" style="display:none"> <ul class="flower-tabs"> <li class="active"><a class="btn tab-btn" onclick="openTab(event, 'tab-author')">Author</a></li> <li><a class="btn tab-btn" onclick="openTab(event, 'tab-venue')">Venue</a></li> <li><a class="btn tab-btn" onclick="openTab(event, 'tab-inst')">Institution</a></li> <li><a class="btn tab-btn" onclick="openTab(event, 'tab-topic')">Topic</a></li> </ul> <div class="flower-tab-content"> <div class="tab-flower active" id="tab-author"><svg id="flower-graph-author"></svg></div> <div class="tab-flower" id="tab-venue"><svg id="flower-graph-venue"></svg></div> <div class="tab-flower" id="tab-inst"><svg id="flower-graph-inst"></svg></div> <div class="tab-flower" id="tab-topic"><svg id="flower-graph-topic"></svg></div> </div> </div> <div id="coreRecommenderOutput"></div> <div id="iarxivOutput"></div> </div> <input type="radio" name="tabs" id="tabfive"> <label for="tabfive"> About arXivLabs </label> <div class="tab"> <div class="columns"> <div class="column"> <h1>arXivLabs: experimental projects with community collaborators</h1> <p>arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.</p> <p>Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.</p> <p>Have an idea for a project that will add value for arXiv's community? <a href="https://info.arxiv.org/labs/index.html"><strong>Learn more about arXivLabs</strong></a>.</p> </div> <div class="column is-narrow is-full-mobile"> <p class="icon-labs"><svg xmlns="http://www.w3.org/2000/svg" role="presentation" viewBox="0 0 635.572 811"><path d="M175.6 676v27h-27v-27zm-54 27v27h27v-27zm-27 27v27h27v-27zm396-54v27h-27v-27zm0 27v27h27v-27zm27 27v27h27v-27zm-27-414h27v27h-27zm27 0h27v-27h-27zm27-27h27v-27h-27zm-396 45h-27v-27h27zm-27-54h-27v27h27zm-27-27h-27v27h27z"/><path d="M94.6 730v27h-27v-27zm477 0v27h-27v-27zm-27-495h27v27h-27zm-450 18h-27v-27h27zm477 9h27v27h-27zm-54 495h27v27h-27zm-423 0h27v27h-27zm-54-504h27v27h-27z" fill="#666"/><path d="M67.6 730v27h-27v-27zm54 54v27h-27v-27zm0-108v27h27v-27zm-27 27v27h27v-27zm-81 0v27h27v-27zm585 27v27h-27v-27zm-108-54v27h27v-27zm27 27v27h27v-27zm81 0v27h27v-27zm-54-495h27v27h-27zm-54 108h27v-27h-27zm27-27h27v-27h-27zm0-81h27v-27h-27zm-423 18h-27v-27h27zm54 54h-27v27h27zm-27-27h-27v27h27zm0-81h-27v27h27zm423 612v27h-27v-27zm81-522v27h-27v-27zm-585-9v27h-27v-27z" fill="#999"/><path d="M94.6 784v27h-27v-27zm-27-27v27h27v-27zm-27-54v27h27v-27zm27 0v27h27v-27zm0-27v27h27v-27zm27 0v27h27v-27zm0-27v27h27v-27zm27 0v27h27v-27zm-108 81v27h27v-27zm558 54v27h-27v-27zm-27-27v27h27v-27zm27-54v27h27v-27zm-27 0v27h27v-27zm0-27v27h27v-27zm-27 0v27h27v-27zm0-27v27h27v-27zm-27 0v27h27v-27zm108 81v27h27v-27zm0-495h27v27h-27zm-27 27h27v-27h-27zm-54-27h27v-27h-27zm0 27h27v-27h-27zm-27 0h27v-27h-27zm0 27h27v-27h-27zm-27 0h27v-27h-27zm0 27h27v-27h-27zm81-108h27v-27h-27zm-504 45h-27v-27h27zm27-27h-27v27h27zm54-27h-27v27h27zm0 27h-27v27h27zm27 0h-27v27h27zm0 27h-27v27h27zm27 0h-27v27h27zm0 27h-27v27h27zm-81-108h-27v27h27z" fill="#ccc"/><path d="M598.6 665.1H41.5C-76.5 667 176 280.2 176 280.2h53a46.5 46.5 0 0162.8-56.3 29.2 29.2 0 1128.5 35.9h-1a46.5 46.5 0 01-1.5 20.3l142.5-.1s255.3 387 138.3 385.1zM291 181a29.3 29.3 0 10-29.2-29.3A29.3 29.3 0 00291 181zm65.4-66.8a22.4 22.4 0 10-22.5-22.4 22.4 22.4 0 0022.5 22.4z" fill="#fc0"/><path d="M245.5 172V10h153v162s324 495 198 495h-558c-126 0 207-495 207-495zm126 54h56m-13 72h56m-9 72h56m-20 72h56m-22 72h56m-29 72h56m-457-45c20.8 41.7 87.3 81 160.7 81 72.1 0 142.1-38.2 163.4-81" fill="none" stroke="#000" stroke-miterlimit="10" stroke-width="20"/><path d="M273.3 421.7c0 31-9.8 56.3-21.9 56.3s-21.8-25.2-21.8-56.3 9.8-56.3 21.8-56.3 21.9 25.2 21.9 56.3zm114.4-56.3c-12 0-21.8 25.2-21.8 56.3s9.7 56.3 21.8 56.3 21.9-25.2 21.9-56.3-9.8-56.3-21.9-56.3zM150.1 526.6c-18.2 6.7-27.5 22.9-23.2 30.2s14.8-5.5 33-12.2 37.4-4.9 33-12.2-24.5-12.6-42.8-5.8zm296 5.8c-4.2 7.3 14.9 5.5 33.1 12.2s28.7 19.5 33 12.2-5-23.5-23.2-30.2-38.5-1.5-42.8 5.8z"/></svg></p> </div> </div> </div> </div> </div>  <div class="endorsers"> <a href="/auth/show-endorsers/2410.21229" class="endorser-who" rel="nofollow">Which authors of this paper are endorsers?</a> | <a id="mathjax_toggle" href="javascript:setMathjaxCookie()">Disable MathJax</a> (<a href="https://info.arxiv.org/help/mathjax.html">What is MathJax?</a>) <span class="help" style="font-style: normal; float: right; margin-top: 0; margin-right: 1em;"></span> </div> <script type="text/javascript" language="javascript">mathjaxToggle();</script> </div> </div> </main> <footer style="clear: both;"> <div class="columns is-desktop" role="navigation" aria-label="Secondary" style="margin: -0.75em -0.75em 0.75em -0.75em">  <div class="column" style="padding: 0;"> <div class="columns"> <div class="column"> <ul style="list-style: none; line-height: 2;"> <li><a href="https://info.arxiv.org/about">About</a></li> <li><a href="https://info.arxiv.org/help">Help</a></li> </ul> </div> <div class="column"> <ul style="list-style: none; line-height: 2;"> <li> <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512" class="icon filter-black" role="presentation"><title>contact arXiv</title><desc>Click here to contact arXiv</desc><path d="M502.3 190.8c3.9-3.1 9.7-.2 9.7 4.7V400c0 26.5-21.5 48-48 48H48c-26.5 0-48-21.5-48-48V195.6c0-5 5.7-7.8 9.7-4.7 22.4 17.4 52.1 39.5 154.1 113.6 21.1 15.4 56.7 47.8 92.2 47.6 35.7.3 72-32.8 92.3-47.6 102-74.1 131.6-96.3 154-113.7zM256 320c23.2.4 56.6-29.2 73.4-41.4 132.7-96.3 142.8-104.7 173.4-128.7 5.8-4.5 9.2-11.5 9.2-18.9v-19c0-26.5-21.5-48-48-48H48C21.5 64 0 85.5 0 112v19c0 7.4 3.4 14.3 9.2 18.9 30.6 23.9 40.7 32.4 173.4 128.7 16.8 12.2 50.2 41.8 73.4 41.4z"/></svg> <a href="https://info.arxiv.org/help/contact.html"> Contact</a> </li> <li> <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512" class="icon filter-black" role="presentation"><title>subscribe to arXiv mailings</title><desc>Click here to subscribe</desc><path d="M476 3.2L12.5 270.6c-18.1 10.4-15.8 35.6 2.2 43.2L121 358.4l287.3-253.2c5.5-4.9 13.3 2.6 8.6 8.3L176 407v80.5c0 23.6 28.5 32.9 42.5 15.8L282 426l124.6 52.2c14.2 6 30.4-2.9 33-18.2l72-432C515 7.8 493.3-6.8 476 3.2z"/></svg> <a href="https://info.arxiv.org/help/subscribe"> Subscribe</a> </li> </ul> </div> </div> </div>   <div class="column" style="padding: 0;"> <div class="columns"> <div class="column"> <ul style="list-style: none; line-height: 2;"> <li><a href="https://info.arxiv.org/help/license/index.html">Copyright</a></li> <li><a href="https://info.arxiv.org/help/policies/privacy_policy.html">Privacy Policy</a></li> </ul> </div> <div class="column sorry-app-links"> <ul style="list-style: none; line-height: 2;"> <li><a href="https://info.arxiv.org/help/web_accessibility.html">Web Accessibility Assistance</a></li> <li> <p class="help"> <a class="a11y-main-link" href="https://status.arxiv.org" target="_blank">arXiv Operational Status <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 256 512" class="icon filter-dark_grey" role="presentation"><path d="M224.3 273l-136 136c-9.4 9.4-24.6 9.4-33.9 0l-22.6-22.6c-9.4-9.4-9.4-24.6 0-33.9l96.4-96.4-96.4-96.4c-9.4-9.4-9.4-24.6 0-33.9L54.3 103c9.4-9.4 24.6-9.4 33.9 0l136 136c9.5 9.4 9.5 24.6.1 34z"/></svg></a><br> Get status notifications via <a class="is-link" href="https://subscribe.sorryapp.com/24846f03/email/new" target="_blank"><svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512" class="icon filter-black" role="presentation"><path d="M502.3 190.8c3.9-3.1 9.7-.2 9.7 4.7V400c0 26.5-21.5 48-48 48H48c-26.5 0-48-21.5-48-48V195.6c0-5 5.7-7.8 9.7-4.7 22.4 17.4 52.1 39.5 154.1 113.6 21.1 15.4 56.7 47.8 92.2 47.6 35.7.3 72-32.8 92.3-47.6 102-74.1 131.6-96.3 154-113.7zM256 320c23.2.4 56.6-29.2 73.4-41.4 132.7-96.3 142.8-104.7 173.4-128.7 5.8-4.5 9.2-11.5 9.2-18.9v-19c0-26.5-21.5-48-48-48H48C21.5 64 0 85.5 0 112v19c0 7.4 3.4 14.3 9.2 18.9 30.6 23.9 40.7 32.4 173.4 128.7 16.8 12.2 50.2 41.8 73.4 41.4z"/></svg>email</a> or <a class="is-link" href="https://subscribe.sorryapp.com/24846f03/slack/new" target="_blank"><svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512" class="icon filter-black" role="presentation"><path d="M94.12 315.1c0 25.9-21.16 47.06-47.06 47.06S0 341 0 315.1c0-25.9 21.16-47.06 47.06-47.06h47.06v47.06zm23.72 0c0-25.9 21.16-47.06 47.06-47.06s47.06 21.16 47.06 47.06v117.84c0 25.9-21.16 47.06-47.06 47.06s-47.06-21.16-47.06-47.06V315.1zm47.06-188.98c-25.9 0-47.06-21.16-47.06-47.06S139 32 164.9 32s47.06 21.16 47.06 47.06v47.06H164.9zm0 23.72c25.9 0 47.06 21.16 47.06 47.06s-21.16 47.06-47.06 47.06H47.06C21.16 243.96 0 222.8 0 196.9s21.16-47.06 47.06-47.06H164.9zm188.98 47.06c0-25.9 21.16-47.06 47.06-47.06 25.9 0 47.06 21.16 47.06 47.06s-21.16 47.06-47.06 47.06h-47.06V196.9zm-23.72 0c0 25.9-21.16 47.06-47.06 47.06-25.9 0-47.06-21.16-47.06-47.06V79.06c0-25.9 21.16-47.06 47.06-47.06 25.9 0 47.06 21.16 47.06 47.06V196.9zM283.1 385.88c25.9 0 47.06 21.16 47.06 47.06 0 25.9-21.16 47.06-47.06 47.06-25.9 0-47.06-21.16-47.06-47.06v-47.06h47.06zm0-23.72c-25.9 0-47.06-21.16-47.06-47.06 0-25.9 21.16-47.06 47.06-47.06h117.84c25.9 0 47.06 21.16 47.06 47.06 0 25.9-21.16 47.06-47.06 47.06H283.1z"/></svg>slack</a> </p> </li> </ul> </div> </div> </div>   </div> </footer> </div> <script src="/static/base/1.0.1/js/member_acknowledgement.js"></script> </body> </html>

CINXE.COM

[2410.21229] HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots