Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation

Key points

• 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.1
• Prior work in compliant humanoid control trades off compliance and generality.1
• 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.1
• 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.1

Sources (1)

• [1]Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 15, 03:59 PM

  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.

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