Unleashing Humanoid Reaching Potential via Real-World-Ready Skill Space
Zhikai Zhang, Chao Chen, Han Xue, Jilong Wang, Sikai Liang, Yun Liu, Zongzhang Zhang, He Wang
Abstract
Humans possess a large reachable space in the 3D world, enabling interactions with objects at varying heights and distances. However, realizing such large-space reaching on humanoids is a complex whole-body control (WBC) problem. Learning from scratch often leads to optimization difficulty and poor sim2real transferability. To address these challenges, we present Real-world-Ready Skill Space (<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{R}^{2}\text{S}^{2}$</tex-math></inline-formula>), a structural skill prior that helps autonomous whole-body-control task execution in an efficient manner while maintaining sim2real transferability. Inheriting knowledge from a set of real-world-ready primitive skills to ease multi-skill learning, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{R}^{2}\text{S}^{2}$</tex-math></inline-formula> further expands the capability of primitive skills and learns a unified structural skill representation. By sampling from <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{R}^{2}\text{S}^{2}$</tex-math></inline-formula>, we unleash humanoid reaching potential in many real-world tasks. As a beneficial side effect, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{R}^{2}\text{S}^{2}$</tex-math></inline-formula> can also support humanoid whole-body teleoperation with a large reachable space. We validate the generalizability of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{R}^{2}\text{S}^{2}$</tex-math></inline-formula> in various challenging goal-reaching tasks across different robot platforms, simulation and real world. We show some examples in Figure 1. Project page: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://zzk273.github.io/R2S2/</uri>.
BibTeX
@inproceedings{ral2026_unleashinghumano,
title = {Unleashing Humanoid Reaching Potential via Real-World-Ready Skill Space},
author = {Zhikai Zhang and Chao Chen and Han Xue and Jilong Wang and Sikai Liang and Yun Liu and Zongzhang Zhang and He Wang and Li Yi},
booktitle = {RA-L 2026},
year = {2026}
}