ILA: 柔軟なヒューマノイド動作追従のための転用可能なインターフェースレベルアダプタ
ILA: A Transferable Interface-Level Adapter for Compliant Humanoid Motion Tracking
専用センサなしで物理的な人の誘導に応じた柔軟な動作追従を実現する、事前学習済み動作トラッカーに差し込むだけで使えるアダプタILAを提案し、誘導誤差を63.6〜75.4%削減した。
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著者: ZhuoChang Cai, Zihao Yan, Jinxuan Zhu, Yanjie Li, Hao Xiong
分類: cs.RO
原文アブストラクト
Humanoid motion tracking is fundamental to reproducing human motions on humanoid robots and serves as an important tool for teleoperation and motion data collection. However, directly tracking reference motions can be unsafe in constrained environments or during physical human--robot interaction, motivating the need for compliant motion tracking. We present ILA, an Interface-Level Adapter for compliant humanoid motion tracking without dedicated interaction sensors. ILA adapts motion references from the robot's observation history, allowing the robot to respond to physical guidance while preserving the capabilities of a pretrained motion tracker. As an interface-level module, ILA can be directly plugged into different pretrained motion trackers without retraining either the adapter or the tracking policies. ILA is trained entirely in simulation to predict reference corrections induced by physical interaction. We evaluate ILA with three humanoid motion trackers and achieve a 63.6--75.4% reduction in guidance-target error compared with their original policies. Matched simulation studies and hardware experiments further show that ILA improves responsiveness to human guidance while preserving nominal motion-tracking performance. These results demonstrate compliant guidance as a reusable, sensor-free extension to pretrained humanoid motion trackers.