**摘要**
For a humanoid robot to be deployed in the real world, the choice of command space (i.e., the interface between task planning and whole-body control) is crucial. Existing whole-body controllers typically demand dense kinematic or spatial references that planners struggle to synthesize from task semantics. We instead propose a compact, explicit interface that is intuitive, general, modular, and exp
👤 作者: Lizhi Yang, Junheng Li, Nehar Poddar, Yiling Hou, Gio Huh, Robert Griffin, Georgia Gkioxari, Aaron Ames

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🔗 **[HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers](https://arxiv.org/abs/2606.06493v1)**

> HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
🏷️ 来源: ArXiv cs.AI
⏱️ 2026-06-05 14:00