FetchMan

Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences

Website · Paper · Data

• Data Generation
• HF Data Release
• Behavior Cloning
• Reinforcement Learning
• Benchmark

Setup

conda create -n g1 python=3.10 -y && conda activate g1
pip install -r requirements.txt

Usage

Data Generation

python main.py --env=molmospaces/configs/example.py

example.py sets the house, the target object, and the domain randomization (textures, lighting, placement, height, cameras).

Add --render to watch, --record to save a LeRobot dataset.

Citation

@article{rayyan2026fetchman,
  title   = {FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences},
  author  = {Rayyan, Omar and Li, Zhi and Argus, Max and Jiang, Yuxin and Yu, Chang and Jiang, Chenfanfu and Cui, Yuchen},
  journal = {arXiv preprint arXiv:2608.17027},
  year    = {2026}
}