Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking
Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking
This research introduces CoFiT, a filter-aware fine-tuning method for pretrained whole-body trackers in humanoid robots. By addressing mismatches between tracking policies and safety filters, CoFiT reduces violation time by 91% on TWIST2 and 21% on SONIC, while requiring smaller safety filter corrections. On real hardware, it achieves 83% reduction in violation time and completes trials without operator intervention.
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Source：arXiv Robotics — research abstracts · arxiv.org