Anchor 1: Precise and Stable Humanoid Control for Whole-Body Manipulation
Anchor 1: Precise and Stable Humanoid Control for Whole-Body Manipulation
This research presents Anchor 1, a whole-body controller designed for precise and stable manipulation in humanoid robots.
The paper introduces Anchor 1, a whole-body controller for humanoid robots that uses calibrated sparse motion references and explicit error feedback to achieve precise manipulation with reduced tracking errors compared to existing controllers in both simulation and hardware evaluations.
Source: arXiv Robotics — research abstracts · Read original article ↗
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simulation and on hardware show stronger precision and stability across all evaluation tracks. Under the most strict real-world global scoring setting, Anchor 1 achieves a 30\% to 80\% decrease in tracking error with fewer look-ahead inputs, and without retargeting compared to all existing controllers. Downstream experiments demonstrate more efficient teleoperated data collection and higher task success using the sam
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otions paired with these calibrated sparse references. We further introduce explicit error feedback decoupled from motion encoding, improving control precision while supporting flexible command interfaces. To achieve a systematic evaluation of these capabilities, a benchmark is proposed to assess precision, sustained execution stability, and reachability across diverse whole-body coordination demands. Evaluations in
Open source S4
Anchor 1: Precise and Stable Humanoid Control for Whole-Body Manipulation
Open source S1
anipulation, together with a benchmark spanning diverse coordination demands. Anchor 1 adopts calibrated sparse motion references to preserve task-relevant human motion structure without online joint-space retargeting, leaving kinematic freedom for precise control. To guide this freedom towards stable, physically plausible whole-body coordination, we shape the training distribution through offline curation of robot m
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org