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Reading and viewing options
- Read the full paper in HTML or the supplementary material in HTML. These versions include headings, table headers, mathematical notation, and figure descriptions.
- Silent clips show real-world hoistingand our experiments. They start automatically when visible, unless reduced motion or data saving is enabled. Use each player’s native controls to pause or resume; a manual pause is respected when scrolling. Every clip has timed visual descriptions and a complete text alternative for screen readers. Full video descriptions and source credits are listed on this page.
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Video sources and descriptions
The six real-world clips show independent lifting operations. HOIST is evaluated in controlled laboratory and simulation settings; these external clips do not show HOIST in field use. All clips are silent.
Opening film: a real humanoid running HOIST guides a suspended box toward its target.
A real Unitree G1 humanoid running HOIST faces a gray box suspended from slings above a wooden platform with an outlined target. As the box is lowered, the robot reaches forward and pushes it with its hands, and the box lands on the platform. Fully autonomous, at original speed, without audio.
Source: The authors' supplementary hoist.mp4, 23–45 seconds, HOIST panel only. Excerpted, resized, and H.264 compressed. Original playback speed; no audio.
Workers hand-guiding a precast concrete footing
Workers in hard hats and high-visibility vests guide a precast concrete footing suspended from crane slings onto a prepared concrete slab. They walk beside it with their hands on it as it is lowered. Close views then show workers crouched against the footing, pressing it with gloved hands to seat it on its guide hardware.
Process of Constructing a Concrete Modular House in Just 2 Weeks. PC(Precast Concrete) Factory. — Holy Maker.
© Holy Maker. Used with permission. Excerpted, audio removed, resized, and H.264 compressed. Original playback speed.
Steadying a suspended bulkhead gate section
A worker in a high-visibility jacket presses one palm against the edge of a tall bulkhead gate section suspended from crane slings beside a concrete wall, while a second worker walks up from the far side of the section.
Gavins Point Dam Bulkhead Gate Replacement — Delanie Stafford / U.S. Army Corps of Engineers.
Public domain in the United States; DVIDS usage conditions apply. Read usage conditions. Excerpted from a single shot, audio removed, resized, and H.264 compressed. Source playback speed retained. Cropped toward the people and the load; the source remains linked.
Hand-guiding a precast concrete beam
Two workers in hard hats raise their arms and press gloved hands against a precast concrete beam suspended from crane slings between two columns. A close view then shows their hands on both ends of the beam as they align it above a column.
Process of Constructing a Concrete Modular House in Just 2 Weeks. PC(Precast Concrete) Factory. — Holy Maker.
© Holy Maker. Used with permission. Two consecutive shots, audio removed, resized, and H.264 compressed. Source playback speed retained.
Hand-guiding a precast wall cap
A worker in a hard hat rests a gloved hand on a crane-suspended precast concrete wall cap and guides it along a brick wall as it is lowered.
CRANE #2 — U.S. Navy / Defense VI Records Center.
Public domain in the United States; DVIDS usage conditions apply. Read usage conditions. Excerpted from a single shot, audio removed, resized, and H.264 compressed. Source playback speed retained. Cropped toward the person and the load; the source remains linked.
Controlling a bow plane with a tagline
A shipyard rigger with a coil of line over one arm holds a tagline attached to a submarine bow plane suspended from a dockside crane, adjusting the line as the load travels overhead. The wide-angle camera follows the rigger.
Shipyard Chronicles: Riggers Install a Port Retractable Bow Plane Into a Submarine — Claudia LaMantia / Pearl Harbor Naval Shipyard and Intermediate Maintenance Facility.
Public domain in the United States; DVIDS usage conditions apply. Read usage conditions. Excerpted from a single shot, audio removed, resized, and H.264 compressed. Source playback speed retained.
Controlling a compact track loader with a tagline
A worker in an orange vest holds a tagline attached to a compact track loader suspended from crane slings, keeping the line in hand as the machine moves just above a cleared slope.
Debris Removal crane operations — Charles Delano / U.S. Army Corps of Engineers.
Public domain in the United States; DVIDS usage conditions apply. Read usage conditions. Excerpted from a single shot, audio removed, resized, and H.264 compressed. Source playback speed retained.
Hand-guiding a precast concrete column
A worker in a white hard hat reaches under a precast concrete column section and keeps a gloved hand pressed against it as it is lowered onto the section below, then releases it when the joint has nearly closed.
Process of Constructing a Concrete Modular House in Just 2 Weeks. PC(Precast Concrete) Factory. — Holy Maker.
© Holy Maker. Used with permission. Excerpted from a single shot, audio removed, resized, and H.264 compressed. Source playback speed retained.
The appearance of U.S. Department of War (DoW) visual information does not imply or constitute DoW endorsement.
Real humanoid: HOIST guides the load to its target.
A real humanoid running HOIST faces a gray box suspended from slings above a wooden platform with an outlined target. The robot reaches toward the box and adjusts hand contact as the load is lowered, and the box lands on the platform. This is the HOIST panel of the real-platform segment of the authors’ comparison, at original speed and without audio; black gutters and title bands are removed while the robot, load, and target are retained.
Source: the authors’ HOIST comparison recording. Original playback speed; no audio.
Simulation: HOIST guides the load onto its landing platform.
The final phase of a HOIST simulation. A cable-suspended box descends toward a rectangular platform as the humanoid adjusts hand contact and stance, and the box settles into its final position and orientation. Black gutters and title bands are removed; the robot, load, and target are retained at original speed without audio.
Source: the authors’ HOIST comparison recording. Original playback speed; no audio.
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