外观
论文arXiv 2610.2211913 天前
Compliant GMT：通过残差参考适配使通用运动跟踪具备顺应性
原文链接：Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation（arXiv 2610.22119 · 发布日期：2026-10-15）
Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation
C-GMT通过基于本体感知历史的残差适配器，为预训练GMT引入顺应性，并在仿真和真实G1实验中验证。
核心要点
- 现有通用运动跟踪策略可模仿多样动作，但训练偏刚性，受扰动时可能出现意外和不安全行为。
- 方法利用预训练GMT的通用跟踪能力，并用残差适配器根据本体感知历史引入全身顺应响应。
- 相比先进通用运动跟踪器和单动作顺应策略，C-GMT在跟踪精度与顺应性遵循上表现有竞争力。
- 作者进一步在仿真和真实G1实验中展示了安全性、鲁棒性和误差容忍度的提升。
验证范围与局限：验证范围为仿真和真实G1实验中的通用运动跟踪与全身顺应响应。
英文摘要 (Abstract)
We propose Compliant GMT (C-GMT), a modular framework for full-body compliant responses in general motion tracking. As humanoid robots move into real world deployment, they not only need to perform any motion but also respond safely and robustly to interaction forces. Existing general motion tracking policies can imitate diverse motions but are trained to be stiff, leading to unexpected and unsafe behaviors under disturbance. Prior work in compliant humanoid control trades off compliance and generality. There exist examples of full-body compliant responses, but these are heavily curated to single-reference policies. On the other hand, general motion trackers (GMT) are trained to rigidly imitate massive motion capture datasets. Our key insight is to leverage the generality of pretrained GMTs for motion tracking while introducing compliance from a residual adapter that conditions on a history of proprioception. This enables our approach, C-GMT, to achieve both general motion tracking and whole-body compliant responses. Compared to state-of-the-art general motion trackers and single-motion compliant policies, C-GMT demonstrates competitive performance in both motion tracking accuracy and compliance adherence. We further demonstrate improved safety, robustness, and error tolerance in simulation and real-world G1 experiments.
作者：Venki Parsuram, Michelle Wang, Jin-Hyuk Hong, Pulkit Agrawal
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