HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction

2026-08-18

AI Summary

研究提出HODAgent系统，通过集成环境交互、规划、执行和记忆模块解决服务场景中的人形机器人响应与任务处理问题，实现高效人机互动。

Abstract

We propose HODAgent, a System-2 embodied agent for humanoid robots in service settings, addressing situated intent, responsive execution, task revision, and outcome verification. Its semi-duplex architecture integrates an Env-Interactor, Planner, Executor, and hierarchical Memory to maintain coherent interaction, planning, and task state during service episodes. This allows handling new requests during motion, retaining progress, revising actions, and grounding closure in execution outcomes. A shared interface connects simulation and physical robots (Unitree G1), isolating platform-specific control. In an interactive simulation with 164 cases, HODAgent achieves 84.8% and 91.5% Joint Success under two VLM backbones, outperforming baselines by 9.8 and 18.9 points. On physical robots, pass rates are 92% (atomic), 72% (composite), and 63.3% (complete tasks). On multiple embodied benchmarks, it improves over baselines by 0.7-9.0 points. Results show a unified System-2 agent enables adaptive humanoid service across simulation and reality.

Problem

• Humanoid Robots
• Service Settings
• Situated Intent
• Responsive Execution
• Task Revision

Innovation

• Semi-duplex Architecture
• Environment Interaction
• Task Revision