DexWeave: Learning Dexterous Humanoid Loco-Manipulation from Human Demonstrations

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DexWeave turns human demonstrations into interaction-consistent humanoid references with two-stage retargeting - specialized solvers initialize body and hand motion, then coupled refinement preserves the upper-body interaction chain - and tracks them with an anatomy-aware Transformer policy trained directly with reinforcement learning, no pretrained tracking policy or teacher-student distillation. Policies deploy on a physical Unitree G1 with dexterous hands.