# KPI：用于人形机器人物理交互的可提示内核

> 原文链接：https://robotics.hellobike.com/papers/2026-09-28-2609-36151
> 频道：papers | 更新日期：2026-09-28 | 标签：arxiv, cs.RO
> 核心摘要：KPI通过由轨迹源发送交互契约，自适应调整手臂控制，在人形机器人绞盘、开门、搬箱等任务上验证。

# KPI：用于人形机器人物理交互的可提示内核

::: v-pre
> 原文链接：[KPI: A Promptable Kernel for Physical Interaction on Humanoids](https://arxiv.org/abs/2609.36151)（arXiv 2609.36151 · 发布日期：2026-09-28）

**KPI: A Promptable Kernel for Physical Interaction on Humanoids**

KPI通过由轨迹源发送交互契约，自适应调整手臂控制，在人形机器人绞盘、开门、搬箱等任务上验证。

## 核心要点

- 问题在于单纯轨迹难以表达接触交互，通用系统常依赖预设或手选控制器。
- KPI位于轨迹源与未修改全身跟踪器之间，按方向指定跟踪、顺应或保持力范围。
- 内核利用跟踪误差和力估计，在接触频率下调整手臂刚度、阻尼、参考和前馈。
- 实验展示了指令驱动绞盘、开门、搬箱及脚本化表面交互，绞盘可吊起第二台机器人。

**验证范围与局限**：验证范围为人形机器人上的指令驱动绞盘、开门、搬箱和脚本化表面交互实验。

## 英文摘要 (Abstract)

Humanoids now walk, balance and reach with remarkable generality: one whole-body tracking policy follows references from a human, or from an end-to-end policy. That generality travels in the trajectory, and a trajectory alone carries limited information about the interaction it should produce: at contact, the executing controller determines how the robot behaves. Single-task policies usually reach hard interactions by optimising trajectory and controller together in simulation; general stacks usually assume a preset or hand-chosen controller. We present KPI, a promptable kernel for physical interaction between the trajectory source and an unmodified whole-body tracker. Instead of a controller fixed before the task, the trajectory source sends a contract: per direction, track, comply, or hold a force range. From tracking error and a wrench estimate, the kernel adapts the arms' stiffness, damping, reference and feedforward toward it at contact rate. We demonstrate KPI through an agentic framework: from one instruction, a vision-language agent writes both the reference trajectory and the contract, with no task-specific code. We demonstrate instruction-driven winch operation, door opening, and box transport, alongside scripted surface-interaction experiments. In the winch demonstration, the humanoid is able to turn a crank to hoist a second robot fully off the ground.

作者：Yikai Wang, Honghao Zhu, Xiao Hu, Hao Zhang, Zelin Wang, Yip Fun Yeung, Ding Zhao, Lingfeng Sun
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## 原始参考来源 (Sources)

- [arXiv 2609.36151：KPI: A Promptable Kernel for Physical Interaction on Humanoids](https://arxiv.org/abs/2609.36151)