Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models

Abstract: This paper uses the capabilities of latent diffusion models (LDMs) to generate realistic RGB human-object interaction scenes to guide humanoid loco-manipulation planning. To do so, we extract from the generated images both the contact locations and robot configurations that are then used inside a whole-body trajectory optimization (TO) formulation to generate physically consistent trajectories for humanoids. We validate our full pipeline in simulation for different long-horizon loco-manipulation scenarios and perform an extensive analysis of the proposed contact and robot configuration extraction pipeline. Our results show that using the information extracted from LDMs, we can generate physically consistent trajectories that require long-horizon reasoning.