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Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Learning humanoid-object interaction requires coordinating whole-body balance, locomotion, and dexterous hand contact to control both robot and object motion. Human demonstrations provide examples of coordinated interaction, but transferring these behaviors to humanoid robots requires learning how to establish and maintain effective contacts under different embodiments and dynamics. We present Weave, a unified framework for learning whole-body dexterous humanoid-object interaction from captured human demonstrations. Weave first converts captured human-object interactions into executable robot-

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