---
id: 20260812-T0-07
title: "LUCID：长时程人形机器人操作新方案，用想象动力学实现技能串联"
title_en: "LUCID: Long-Horizon Humanoid Loco-Manipulation via Imagined Dynamics"
url: https://ai.daily.yangsir.net/daily/20260812-T0-07
issue_date: 2026-08-12
publish_date: 2026-08-11T04:00:00.000Z
category: research
source_name: "arXiv cs.LG (ML)"
source_url: https://arxiv.org/abs/2608.07746
---

# LUCID：长时程人形机器人操作新方案，用想象动力学实现技能串联

LUCID提出一种用于人形机器人长时程移动操作任务的新架构。该方法通过"潜在技能统一控制"机制，配合想象动力学模型，让机器人能自主编排多种全身技能（如行走、抓取、搬运）并做出高层级决策，无需依赖传统脚本化规划器或有限状态机。实验显示该方案在任务成功率与技能切换流畅度上优于现有基线。对机器人领域开发者而言，该方案有助于简化复杂任务分解流程，提升部署效率。

## English Version

**LUCID: Long-Horizon Humanoid Loco-Manipulation via Imagined Dynamics**

LUCID introduces a novel architecture for long-horizon humanoid loco-manipulation tasks. It uses a latent-skill unified control mechanism with imagined dynamics models, enabling robots to autonomously sequence whole-body skills (walking, grasping, carrying) and make high-level decisions without scripted planners or finite-state machines. Experiments show improved task success rates and smoother skill transitions over baselines. For robotics developers, this simplifies complex task decomposition and boosts deployment efficiency.

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**来源**：[arXiv cs.LG (ML)](https://arxiv.org/abs/2608.07746)

**详情页**：https://ai.daily.yangsir.net/daily/20260812-T0-07

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