SOURCE-LINKED INTELLIGENCE

Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Roofing requires workers to coordinate locomotion, balance, and work-related body motions on pitched surfaces, creating a challenging application for humanoid robots. Directly retargeted human demonstrations, however, may preserve motion appearance while placing the robot's feet or hands incorrectly relative to the roof. This study presents a task-semantic scene-grounded framework for learning roofer-style whole-body motions on a Unitree G1. Human demonstrations are captured using a tracking system and retargeted to the robot, while a metric roof model supplies the spatial reference unavailabl

Read original source ↗ Open in workspace

recordType

paper

region

Global