Data to 14 Oct 2026

Hierarchical Planning and Control for Box Loco-Manipulation

arXiv 2306.09532 ↗First posted 15 Jun 2023cs.RO cs.GRcited by 44

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Abstract (arXiv)

Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box rearrangement tasks, which requires a combination of both skills. We propose a hierarchical control architecture, where each level solves the task at a different level of abstraction, and the result is a physics-based simulated virtual human capable of rearranging boxes in a cluttered environment. The control architecture integrates a planner, diffusion models, and physics-based motion imitation of sparse motion clips using deep reinforcement learning. Boxes can vary in size, weight, shape, and placement height. Code and trained control policies are provided.

Key facts. Cited by 44 papers in the map (data through 14 Oct 2026). First posted on arXiv 15 Jun 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 6; 2024: 13; 2025: 13; 2026: 12.

44 papers.

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2023Object Motion Guided Human Motion Synthesiscited by 212
2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 182
2023CG-HOI: Contact-Guided 3D Human-Object Interaction Generationcited by 138
2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 112
2023Controllable Human-Object Interaction Synthesiscited by 109
2024CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character controlcited by 109
2023PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interactioncited by 76
2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 72
2024InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interactioncited by 64
2025TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenizationcited by 51
2023Synthesizing Physically Plausible Human Motions in 3D Scenescited by 49
2024THOR: Text to Human-Object Interaction Diffusion via Relation Interventioncited by 46

32 more

2024CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamicscited by 44
2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 44
2025InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generationcited by 32
2025Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Controlcited by 28
2024ZeroHSI: Zero-Shot 4D Human-Scene Interaction by Video Generationcited by 25
2025Guiding Human-Object Interactions with Rich Geometry and Relationscited by 24
2025ChainHOI: Joint-based Kinematic Chain Modeling for Human-Object Interaction Generationcited by 20
2025PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction Systemcited by 18
2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 16
2024SIMS: Simulating Stylized Human-Scene Interactions with Retrieval-Augmented Script Generationcited by 12
2025Human-Object Interaction via Automatically Designed VLM-Guided Motion Policycited by 12
2026InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactionscited by 11
2024F"urElise: Capturing and Physically Synthesizing Hand Motions of Piano Performancecited by 10
2026HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulationcited by 10
2024FORCE: Physics-aware Human-object Interactioncited by 7
2025Learning to Ball: Composing Policies for Long-Horizon Basketball Movescited by 6
2025Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learningcited by 5
2026TeamHOI: Learning a Unified Policy for Cooperative Human-Object Interactions with Any Team Sizecited by 5
2025Separate to Collaborate: Dual-Stream Diffusion Model for Coordinated Piano Hand Motion Synthesiscited by 4
2024COLLAGE: Collaborative Human-Agent Interaction Generation using Hierarchical Latent Diffusion and Language Modelscited by 3
2024SMGDiff: Soccer Motion Generation using diffusion probabilistic modelscited by 3
2025Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulationcited by 3
2026ViHOI: Human-Object Interaction Synthesis with Visual Priorscited by 3
2026REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learningcited by 2
2026DeVI: Physics-based Dexterous Human-Object Interaction via Synthetic Video Imitationcited by 1
2026MUSIC: Learning Muscle-Driven Dexterous Hand Controlcited by 1
2026InterPhys: Physics-aware Human Motion Synthesis in a Dynamic Scenecited by 1
2025LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenescited by 0
2026Robo-Saber: Generating and Simulating Virtual Reality Playerscited by 0
2026Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robotcited by 0
2026MaMi-HOI: Harmonizing Global Kinematics and Local Geometry for Human-Object Interaction Generationcited by 0
2026Scalable Multi-Human Cooperative Manipulation via Commander-Executor Coordinationcited by 0

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