ULC: ヒューマノイドの移動操作のための統合された細粒度コントローラ
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
ヒューマノイドの移動と上半身操作を単一のポリシーで統合制御するULCを提案し、Unitree G1で有効性を実証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Wandong Sun, Luying Feng, Baoshi Cao, Yang Liu, Yaochu Jin, Zongwu Xie
分類: cs.RO
原文アブストラクト
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body (manipulation) and lower-body (locomotion) policies. While this decomposition reduces training complexity, it inherently limits coordination between subsystems and contradicts the unified whole-body control exhibited by humans. We demonstrate that a single unified policy can achieve a combination of tracking accuracy, large workspace, and robustness for humanoid loco-manipulation. We propose the Unified Loco-Manipulation Controller (ULC), a single-policy framework that simultaneously tracks root velocity, root height, torso rotation, and dual-arm joint positions in an end-to-end manner, proving the feasibility of unified control without sacrificing performance. We achieve this unified control through key technologies: sequence skill acquisition for progressive learning complexity, residual action modeling for fine-grained control adjustments, command polynomial interpolation for smooth motion transitions, random delay release for robustness to deploy variations, load randomization for generalization to external disturbances, and center-of-gravity tracking for providing explicit policy gradients to maintain stability. We validate our method on the Unitree G1 humanoid robot with 3-DOF (degrees-of-freedom) waist. Compared with strong baselines, ULC shows better tracking performance to disentangled methods and demonstrating larger workspace coverage. The unified dual-arm tracking enables precise manipulation under external loads while maintaining coordinated whole-body control for complex loco-manipulation tasks.
