SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
SceneBot is a unified motion-tracking framework for humanoids that handles free-space locomotion, terrain traversal, and whole-body manipulation. By conditioning a single policy on both reference motions and per-link contact labels, it explicitly defines expected environmental interactions. To address the lack of annotated interaction data, the authors propose a hindsight scene reconstruction approach that infers scene-interaction graphs from retargeted human motion. Trained on 7.5 hours of reconstructed contact-rich data, SceneBot generalizes to unseen motions and environments, enabling complex long-horizon tasks like carrying a box upstairs. It is the first general framework to seamlessly unify free-space and contact-rich behaviors.
[2606.27581] SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
[Submitted on 25 Jun 2026]
Title:SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
View a PDF of the paper titled SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction, by Sirui Chen and 5 other authors
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Abstract:Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich tasks, as pure kinematic tracking cannot resolve the physical ambiguities of interacting with objects and uneven terrain. To address this, we introduce SceneBot, a unified motion-tracking framework capable of handling freespace locomotion, terrain traversal, and whole-body manipulation. SceneBot conditions a single policy on both reference motions and per-link contact labels, explicitly defining expected environmental interactions. To overcome the lack of annotated interaction data, we propose a hindsight scene reconstruction approach that infers scene-interaction graphs from retargeted human motion. Trained on 7.5 hours of this reconstructed, contact-rich data, SceneBot successfully generalizes to unseen motions and environments. Our results demonstrate that SceneBot is the first general framework to seamlessly unify free-space and contact-rich behaviors executing complex, long-horizon tasks like carrying a box upstairs and establishing contact conditioning as a powerful interface for humanoid control. All code and data will be open-sourced. More demos and information are available at: this https URL
Comments: 15 pages 10 figures
Subjects:
Robotics (cs.RO); Artificial Intelligence (cs.AI)
Cite as: arXiv:2606.27581 [cs.RO]
(or arXiv:2606.27581v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.27581
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Sirui Chen [view email] [v1] Thu, 25 Jun 2026 22:13:29 UTC (7,955 KB)
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