论文arXiv 2611.00193今天

Anchor 1全身控制器发布：人形操作跟踪误差降低30%至80%

针对人形机器人全身操作精度难题，Anchor 1控制器通过校准稀疏运动参考与显式误差反馈，在无需在线重定向前提下实现稳定控制。实测跟踪误差较现有方案降低30%-80%，显著提升遥操作数据采集效率与任务成功率。

AI 整理

本体 SDK 与控制
具身模型
评测与安全

本文由 AI 根据公开内容整理，可能有误，请以原文为准：Anchor 1: Precise and Stable Humanoid Control for Whole-Body Manipulation（arXiv 2611.00193）

核心内容

针对人形机器人全身操作中微小偏差即导致任务失败的行业痛点，研究团队提出Anchor 1全身控制器及配套评测基准。该方案旨在解决复杂协调需求下的精准稳定控制问题，仿真与真机验证显示，在最严格的现实世界全局评分设置下，其跟踪误差相比所有现有控制器降低30%至80%，且所需前瞻输入更少，为具身任务执行提供了实用化控制基座。

技术上，Anchor 1采用校准稀疏运动参考保留任务相关人体运动结构，避免在线关节空间重定向以预留精确控制自由度；通过离线整理机器人运动数据配对校准参考来塑造训练分布，引导生成物理可信的全身协调动作。系统引入独立于运动编码的显式误差反馈机制提升精度并支持灵活指令接口，下游实验证实该部署管线有效提升了遥操作数据采集效率及任务成功率。

关键看点

控制精度：在严格真机测试中，Anchor 1跟踪误差较现有控制器降低30%-80%，且减少了对前瞻输入的依赖
技术架构：采用校准稀疏运动参考替代在线关节重定向，结合离线数据策展与解耦的显式误差反馈机制提升稳定性
数据效能：基于同一部署管线的下游实验表明，该控制器显著提高了遥操作数据采集效率及实际任务执行成功率
评测体系：同步发布覆盖多样化全身协调需求的Benchmark，系统性评估精度、持续执行稳定性及可达性指标

工程与产业观察

Anchor 1通过解耦运动先验与误差反馈，解决了人形机器人全身操作中“拟人性”与“精确性”难以兼顾的工程矛盾。其免在线重定向设计降低了计算负载与调试门槛，配合标准化评测基准，为人形机器人从仿真走向真机精密作业提供了可复现的控制范式与数据验证标准，对提升具身智能落地确定性具有重要参考价值。

英文摘要 (Abstract)

Humanoid controllers have acquired increasingly diverse motor skills, yet translating these capabilities into precise and stable whole-body manipulation remains challenging. Manipulation tasks are sensitive to execution deviations -- even small errors or unintended steps can cause failure. Introducing Anchor 1, a whole-body controller for precise and stable whole-body manipulation, together with a benchmark spanning diverse coordination demands. Anchor 1 adopts calibrated sparse motion references to preserve task-relevant human motion structure without online joint-space retargeting, leaving kinematic freedom for precise control. To guide this freedom towards stable, physically plausible whole-body coordination, we shape the training distribution through offline curation of robot motions paired with these calibrated sparse references. We further introduce explicit error feedback decoupled from motion encoding, improving control precision while supporting flexible command interfaces. To achieve a systematic evaluation of these capabilities, a benchmark is proposed to assess precision, sustained execution stability, and reachability across diverse whole-body coordination demands. Evaluations in simulation and on hardware show stronger precision and stability across all evaluation tracks. Under the most strict real-world global scoring setting, Anchor 1 achieves a 30% to 80% decrease in tracking error with fewer look-ahead inputs, and without retargeting compared to all existing controllers. Downstream experiments demonstrate more efficient teleoperated data collection and higher task success using the same deployment pipeline as well. We believe Anchor 1 supports precise and stable whole-body control as a practical basis for humanoid task execution.

作者：Archon Robotics, :, Caojun Wang, Checheng Yu, Gangcheng Jiang, Guangjun Zeng, Haoran Jiang, Hongyang Li, Huibin Yan, Huijie Wang, Jialong Zeng, Jin Yang, Kai Cheng, Li Chen, Liang Chen, Lirui Zhao, Mo…