汎用モーショントラッキングを残差参照適応でコンプライアント化するC-GMT
Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation
事前学習済みの汎用モーショントラッカーに固有感覚履歴を条件とする残差アダプタを組み合わせ、多様な動作の追従と外力への全身コンプライアント応答を両立させたフレームワーク。
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著者: Venki Parsuram, Michelle Wang, Jin-Hyuk Hong, Pulkit Agrawal
分類: cs.RO
原文アブストラクト
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.