GRAIL creates over 20,000 synthetic loco-manipulation sequences from known 3D configurations and video priors, then trains policies that achieve 84% pick-up and 90% stair-climbing success on a real Unitree G1 humanoid using only the generated data.
arXiv preprint arXiv:2509.22442 , year =
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GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
GRAIL creates over 20,000 synthetic loco-manipulation sequences from known 3D configurations and video priors, then trains policies that achieve 84% pick-up and 90% stair-climbing success on a real Unitree G1 humanoid using only the generated data.