HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

HOTICE presents a whole-body humanoid learning framework for object transportation in cluttered environments. The method introduces Humanoid-Object Decoupled Potential Fields to jointly encode collision constraints around both the robot body and its carried payload. This approach enables effective navigation when free space is restricted around the humanoid and the object being transported. The research targets the multibody dynamics domain with a focus on contact mechanics and collision avoidance.