BRACE tracks humanoid motion under commanded force and slope
Original title: BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
A flow-matching student distilled by DAgger runs on proprioception alone and was tested on the Unitree-G1.
BRACE is a whole-body tracker for humanoid robots that follows flat-ground references while commanding hand forces and standing on slopes. Terrain conformance and a wrench transformation fold slope and load into the reference, with arm-effort limits from the teachers. Separate exertion and compensation teachers are distilled by DAgger into one flow-matching student that needs no height map or measured wrench. Authors report simulation and real-robot experiments on the Unitree-G1.
Unconfirmed: Real-robot capability claims come only from the authors' Unitree-G1 experiments.
- The student uses proprioception only, without a height map or measured wrench.
- Teachers for exertion and compensation are distilled with DAgger.
- A teleoperator can send a flat-ground trajectory for onboard resolution.
- Experiments cover simulation and a real Unitree-G1.
- Arm effort is bounded by teacher-specific limits.
- Vendors
- Unitree
- Products
- Unitree-G1
From the original article
1 min read at huggingface.co
Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the tracker is aware of neither the forces the robot must exchange with objects nor the terrain it must stand on.
By Sudarshan Harithas, Chen Yu, Juan Borbon · huggingface.co
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