TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
[Robotyka] Autorzy: Anqi Li, Yuxin Chen, Zhaobo Li i 4 więcej
We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid traversal in cluttered environments requires continuous geometry-aware whole-body adaptation, including coordinated arm placement, torso adjustment, and gait modulation for collision-free movement through complex 3D spaces. We introduce TANGO, the first whole-body vision-language navigation framework for language-conditioned humanoid traversal in cluttered environments. Given a natural-language instruction and egocentric RGB observations, TANGO directly predicts 29-DoF joint-space actions for downstream whole-body control. We train TANGO entirely in simulation by synthesizing diverse collision-free traversal behaviors via global path planning, kinematic whole-body motion generation, obstacle-aware motion editing…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka