ThorArena: 人間の動作と力のデモンストレーションによる人型ロボットの物理的インタラクションのベンチマーク
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
人型ロボットの接触を伴うタスク評価のため、同期した動作と力の計測を含む実世界データセットと、力考慮の評価指標を備えたベンチマークThorArenaを提案した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Chenhao Yu, Hongwu Wang, Weitao Zhang, Youhao Hu, Jiachen Zhang, Gangyang Li, Alois Knoll, Shaqi Luo
分類: cs.RO
原文アブストラクト
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objects and humans. Although recent advances in humanoid motion imitation and whole-body control have achieved remarkable tracking performance, existing datasets and benchmarks primarily focus on kinematic motion while largely overlooking synchronized interaction forces. As a result, current evaluations fail to capture how external interaction forces affect tracking accuracy, stability, and control robustness. In this paper, we present ThorArena, a benchmark for evaluating force-aware humanoid interaction based on human demonstrations with synchronized motion and force measurements. We collect a real-world interaction dataset that simultaneously captures whole-body human motion and forces exerted by both hands across six representative physical interaction tasks. Based on these demonstrations, we propose force-aware evaluation metrics that jointly assess whole-body tracking accuracy, robustness under different force levels, control effort, and episode survival through the Force-Aware Tracking Score (FATS) and complementary diagnostic metrics. We further establish a unified benchmark protocol that replays recorded interaction forces in simulation and provides a standardized evaluation interface for different humanoid control policies. Experiments on representative whole-body control policies demonstrate that force-aware evaluation reveals substantial performance differences that remain largely hidden under conventional no-force evaluation. ThorArena provides a practical and reproducible framework for studying force-aware humanoid interaction and offers a new benchmark for evaluating contact-rich humanoid behaviors.
