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R2S2

Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space

PDF Paper ArXiv arXiv Youtube Video Code (OpenWBT)

Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space

Zhikai Zhang1,3*, Chao Chen3,6*, Han Xue1,3*, Jilong Wang2,3, Sikai Liang3,7, Yun Liu1,3, Zongzhang Zhang6, He Wang2,3, Li Yi1,4,5

1Tsinghua University, 2Peking University, 3Galbot, 4Shanghai AI Laboratory, 5Shanghai Qi Zhi Institute, 6Nanjing University, 7Tongji University

Primitive Skills - Locomotion

Forward Locomotion

Robust Locomotion

Lateral Locomotion

Turning Locomotion

Primitive Skills - Body Pose Adjustment

H1 Body Pose Adjustment

G1 Body Pose Adjustment

Autonomous Tasks

Point Touch

Sequential Box Pickup

Multi-Height Box Pickup

Teleoperation

Desk Cleaning 1

Desk Cleaning 2

High Surface Wiping

Item Pickup

Writing Writing illustration

G1 Teleoperation

Abstract

Humans possess a large reachable space in the 3D world, enabling interaction with objects at varying heights and distances. However, realizing such large-space reaching on humanoids is a complex whole-body control problem and requires the robot to master diverse skills simultaneously—including base positioning and reorientation, height and body posture adjustments, and end-effector pose control. Learning from scratch often leads to optimization difficulty and poor sim2real transferability. To address this challenge, we propose Real-world-Ready Skill Space (R2S2). Our approach begins with a carefully designed skill library consisting of real-world-ready primitive skills. We ensure optimal performance and robust sim2real transfer through individual skill tuning and sim2real evaluation. These skills are then ensembled into a unified latent space, serving as a structured prior that helps task execution in an efficient and sim2real transferable manner. A high-level planner, trained to sample skills from this space, enables the robot to accomplish real-world goal-reaching tasks. We demonstrate zero-shot sim2real transfer and validate R2S2 in multiple challenging goal-reaching scenarios, including point touch and box pickup.


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R2S2 Overview. We present Real-world-Ready Skill Space (R2S2), a skill space that encompasses and encodes various real-world-ready motor skills. 1) We decompose the complex WBC motor skills into a library of primitive skills, each separately tuned and sim2real evaluated. 2) We ensemble multiple primitive skills into a student policy with a variational information bottleneck. 3) We train high-level planning policies to sample from R2S2 to efficiently and stably accomplish real-world goal-reaching tasks.

BibTeX

      
        @misc{zhang2025unleashinghumanoidreachingpotential,
          title={Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space}, 
          author={Zhikai Zhang and Chao Chen and Han Xue and Jilong Wang and Sikai Liang and Yun Liu and Zongzhang Zhang and He Wang and Li Yi},
          year={2025},
          eprint={2505.10918},
          archivePrefix={arXiv},
          primaryClass={cs.RO},
          url={https://arxiv.org/abs/2505.10918}, 
    }