Under review
Belief-Overlap Partial Inversion
Object-Centric Flow Replanning for Humanoid Loco-Manipulation
Learn how the cart moves.
Adapt the plan while moving.
BOPI helps a humanoid adapt its path as it learns how an unknown cart moves.
01The challenge
Different carts, different paths.
One controller tracks both cart types. The planner adapts as pushing reveals the cart’s mass and wheel constraints.
Freely swiveling wheels
Constrained rear wheels
02The method
Revise the plan as beliefs change.
BOPI partially reverses plan generation, then rebuilds under the new belief. Greater disagreement allows larger revisions.
Belief overlapInversion depthRevised plan
03The results
More accurate motion.
18simulated goals
33%lower final position error
47%lower final yaw error
18 goals × 32 seeds. Error reductions relative to fixed-depth replanning (RDM).