外观
论文arXiv 2502.032062025-02-05
HugWBC统一全身控制器实现人形机器人多模态运动与实时遥操作
本文由 AI 根据公开内容整理，可能有误，请以原文为准：A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion（arXiv 2502.03206）
核心内容
针对现有人形机器人运动控制单一且不可扩展的问题，研究团队提出HugWBC统一全身控制器。该方法构建了涵盖任务与行为的通用指令空间，结合对称损失函数与干预训练技术，在仿真中学习全身控制策略并成功迁移至真机。实验表明，该系统能生成行走、站立、跳跃等多种自然步态，并支持频率、抬脚高度、躯干俯仰及腰部旋转等参数的自定义调节，是首个兼顾高鲁棒性与灵活性的通用全身控制方案。
在系统架构上，HugWBC不仅实现了下肢多模态运动的精确跟踪，还集成了外部上身控制器接口，支持在任意运动状态下进行实时遥操作干预，从而实现高精度的移动操作（loco-manipulation）。研究深入分析了各指令对人形机器人运动的影响机制及相互关系，验证了有无上身干预场景下的高跟踪精度。该工作突破了传统控制器将运动视为孤立动作的限制，为人形机器人复杂动态环境下的全身协同控制提供了新范式。
关键看点
- 通用指令空间：设计覆盖任务与行为的统一命令空间，支持步态频率、抬脚高度、身高等参数连续自定义调节
- Sim-to-Real训练：采用对称损失函数与干预训练技术，提升仿真策略向真机迁移的泛化能力与运动自然度
- 实时上身干预：兼容外部遥操作控制器，在任意下肢运动模式下保持高精度移动操作与全身协调控制
- 多模态运动验证：实测支持行走、跳跃、单腿跳及站立切换，具备高跟踪精度与抗干扰鲁棒性
工程与产业观察
HugWBC通过统一指令空间解耦运动基元与高层规划，解决了人形机器人多技能切换难题。其支持的实时上身干预机制为移动操作提供了底层保障，对称损失与干预训练策略对具身智能Sim-to-Real工程落地具有直接参考价值，推动全身控制从专用走向通用。
英文摘要 (Abstract)
Locomotion is a fundamental skill for humanoid robots. However, most existing works make locomotion a single, tedious, unextendable, and unconstrained movement. This limits the kinematic capabilities of humanoid robots. In contrast, humans possess versatile athletic abilities-running, jumping, hopping, and finely adjusting gait parameters such as frequency and foot height. In this paper, we investigate solutions to bring such versatility into humanoid locomotion and thereby propose HugWBC: a unified and general humanoid whole-body controller for versatile locomotion. By designing a general command space in the aspect of tasks and behaviors, along with advanced techniques like symmetrical loss and intervention training for learning a whole-body humanoid controlling policy in simulation, HugWBC enables real-world humanoid robots to produce various natural gaits, including walking, jumping, standing, and hopping, with customizable parameters such as frequency, foot swing height, further combined with different body height, waist rotation, and body pitch. Beyond locomotion, HugWBC also supports real-time interventions from external upper-body controllers like teleoperation, enabling loco-manipulation with precision under any locomotive behavior. Extensive experiments validate the high tracking accuracy and robustness of HugWBC with/without upper-body intervention for all commands, and we further provide an in-depth analysis of how the various commands affect humanoid movement and offer insights into the relationships between these commands. To our knowledge, HugWBC is the first humanoid whole-body controller that supports such versatile locomotion behaviors with high robustness and flexibility.
作者：Yufei Xue, Wentao Dong, Minghuan Liu, Weinan Zhang, Jiangmiao Pang
来源
本页事实对应的公开页面，以原文为准。