Find it. Reach it. Grasp it. Easy for us, hard for a humanoid.
Introducing HuG (#CoRL2026#): Learning Humanoid Whole-Body Affordance-Aware Grasping with Active Perception.
The robot looks around for a half-hidden object, squats or stretches its whole body to reach it, and grasps. Zero real demos, zero-shot to unseen objects and everyday scenes, from low tables to high shelves.
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