论文/arXiv 2610.07052·23 天前

BRACE：面向力与地形感知的人形机器人运动跟踪的全身参考适配

BRACE将地形与手部力纳入全身参考适配，用本体感知策略在Unitree-G1仿真和真机上验证斜坡与负载跟踪。

AI 整理

• 本体 SDK 与控制
• 仿真与训练
• 数据与采集

宇树 G1

原文链接：BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking（arXiv 2610.07052 · 发布日期：2026-10-05）

BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking

BRACE将地形与手部力纳入全身参考适配，用本体感知策略在Unitree-G1仿真和真机上验证斜坡与负载跟踪。

核心要点

• 全身跟踪参考多来自平地空载，缺乏对物体交互力和站立地形的感知。
• BRACE通过地形贴合抬升落脚点和根部，并用扳手变换解析手部位移及质心、压心变化。
• 施力与补偿教师经DAgger蒸馏为一个flow-matching学生，仅依赖本体感知运行。
• 实验在Unitree-G1仿真和真机上展示施力、力补偿和处理多样地形的能力。

验证范围与局限：验证范围为Unitree-G1上的仿真与真机实验，涵盖施力、力补偿和多样地形。

英文摘要 (Abstract)

Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the tracker is aware of neither the forces the robot must exchange with objects nor the terrain it must stand on. Existing controllers address one side of this gap: force-capable policies command an end-effector force but prescribe no whole-body pose, while terrain-adaptive trackers treat loads as disturbances to reject rather than wrenches to command. We present BRACE, a whole-body tracker that exerts and compensates commanded hand forces from diverse poses while following a flat-ground reference on sloped terrain. Rather than leaving the tracker to absorb the load and the slope, BRACE folds both into the reference it follows: terrain conformance lifts footholds and root onto the local surface, and a wrench transformation resolves the hand displacement that produces a force jointly with the center-of-mass and center- of-pressure shifts it induces, bounded by teacher-specific arm-effort limits. Separate exertion and compensation teachers are distilled by DAgger into one flow-matching student that runs on proprioception alone, without a height map or measured wrench, so a teleoperator (even in remote locations) can supply a flat- ground trajectory and the robot resolves slope and load onboard. We extensive experiments on the Unitree-G1 to demonstrate the ability of BRACE to exert, compensate force and handle diverse terrain in simulation and real robot experiments.

作者：Sudarshan Harithas, Chen Yu, Juan Borbon, Shubhankar Mondal, Winston Zha, Srinath Sridhar, Dingqi Zhang, Jiuguang Wang

来源

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1. arXiv 2610.07052：BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking访问 2026-10-21