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Humanoid Horizon: Extending Task Horizon in Whole-Body Loco-Manipulation via Parallel Training, Dynamic Starting, and Reward Gating
Cluttered indoor environments, where large and heavy objects are scattered across diverse surfaces, require humanoid robots to sequentially navigate, grasp, transport, and accurately place each item at its target location within a single uninterrupted episode. This long-horizon, whole-body loco-mani
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