外观
论文arXiv 2607.127023 个月前
通过特权表示学习实现基于视觉的人形机器人足球带球
原文链接：Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning（arXiv 2607.12702 · 发布日期：2026-07-14）
Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning
针对人形足球带球中感知与控制分离的不足，提出嵌入时序深度编码器的强化学习策略，并在仿真Booster T1上验证。
核心要点
- 足球带球需同时保持平衡、控球并感知动态对手，且受机载感知和实时约束限制。
- 方法将时序深度编码器经任务特定投影层嵌入强化学习策略，直接利用深度观测学习。
- 在仿真Booster T1上，无需显式状态估计或特权场景信息即可学习对手感知带球。
- 策略在标称目标带球成功率100%，单静态障碍96%，主动移动抢球对手46%。
验证范围与局限：验证仅限仿真Booster T1，涵盖标称带球、单静态障碍和主动移动抢球对手场景。
英文摘要 (Abstract)
Recent advances in humanoid robotics have highlighted the importance of deployable loco-manipulation skills. Dribbling a soccer ball while evading active opponents requires simultaneous balance, precise ball control, and awareness of a dynamic adversary under onboard sensing and real-time constraints. Existing approaches typically separate perception and motion, which can be effective in controlled settings but may fail under occlusions, fast ball movements, and complex opponent interactions, since perception is not directly optimized for control. We propose an integrated approach in which a temporal depth encoder is embedded into a reinforcement learning policy through a task-specific projection layer. We apply this framework to a simulated Booster T1 humanoid robot and show that it is possible to learn vision-based, opponent-aware dribbling directly from depth observations, without explicit state estimation or privileged scene information. The learned policy achieves 100% success in nominal target-driven dribbling and 96% success with a single static obstacle, while reaching 46% success against an actively moving ball-attacker opponent. These results demonstrate that the proposed framework supports robust vision-based dribbling in nominal and moderately dynamic settings, and provides a strong foundation for handling more challenging moving-adversary scenarios.
作者：Flavio Maiorana, Valerio Spagnoli, Eugenio Bugli, Flavio Volpi, Daniele Affinita, Vincenzo Suriani, Daniele Nardi, Luca Iocchi
来源
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