CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation

CoorDex introduces a novel learning pipeline for continuous dexterous humanoid loco-manipulation, enabling a Unitree G1 humanoid equipped with a 20-DoF WUJI hand to perform complex tasks while in motion. The system utilizes coordinated latent residual control, leveraging proprioception-conditioned latent priors distilled from high-dimensional demonstrations to enhance finger-level contact reliability and maintain natural body motion. This approach outperforms traditional methods in joint-space control and monolithic latent prediction, making it a significant advancement for practitioners focusing on high-DoF manipulation tasks in robotics.