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arXiv · 2602.14363

AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation

Morgan Byrd·Donghoon Baek·Kartik Garg·Hyunyoung Jung·Daesol Cho·Maks Sorokin·Robert Wright·Sehoon Ha
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Abstract

This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery. Unlike prior imitation learning-based approaches that rely on human demonstrations and are often brittle to disturbances, AdaptManip aims to train a robust loco-manipulation policy via reinforcement learning without human demonstrations or teleoperation data. The proposed framework consists of three coupled components: (1) a recurrent object state estimator that tracks the manipulated object in real time under limited field-of-view and occlusions; (2) a whole-body base policy for robust locomotion with residual manipulation control for stable object lifting and delivery; and (3) a LiDAR-based robot global position estimator that provides drift-robust localization. All components are trained in simulation using reinforcement learning and deployed on real hardware in a zero-shot manner. Experimental results show that AdaptManip significantly outperforms baseline methods, including imitation learning-based approaches, in adaptability and overall success rate, while accurate object state estimation improves manipulation performance even under occlusion. We further demonstrate fully autonomous real-world navigation, object lifting, and delivery on a humanoid robot.

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Morgan Byrd, Donghoon Baek, Kartik Garg, Hyunyoung Jung, Daesol Cho, Maks Sorokin, Robert Wright, Sehoon Ha. 2026-02-16. AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation. https://arxiv.org/abs/2602.14363

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