PingpongDuo: Agile Humanoid Table Tennis Doubles with Safe Team Coordination
PingpongDuo: Agile Humanoid Table Tennis Doubles with Safe Team Coordination
This paper presents PingpongDuo, a hierarchical framework for agile humanoid doubles table tennis with safe team coordination. The system includes a team-level planner that selects positioning targets and filters risky proposals, and individual-level footwork and striking skills guided by human motion references. In simulation, PingpongDuo improves ball-return success rate by 13.2% over the state-of-the-art baseline, and in real-world experiments, a robot completes a 2.15 m clearance-and-recovery cycle in 2.4 seconds with a peak speed of 2.23 m/s.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
Reported success rate
13.2%
View original evidence
one another to support rapid transitions. A racket-arm residual further refines strikes after movement using return feedback from a simulator calibrated with real ball-flight and contact measurements. In simulation, PingpongDuo improves the ball-return success rate by 13.2% over the state-of-the-art baseline, while achieving approximately 2 cm positioning error during clearance. In real-world experiments, a robot co
Open source S4positioning error
≈2
View original evidence
one another to support rapid transitions. A racket-arm residual further refines strikes after movement using return feedback from a simulator calibrated with real ball-flight and contact measurements. In simulation, PingpongDuo improves the ball-return success rate by 13.2% over the state-of-the-art baseline, while achieving approximately 2 cm positioning error during clearance. In real-world experiments, a robot co
Open source S4clearance-and-recovery cycle length
2.15
View original evidence
mpletes a 2.15 m clearance-and-recovery cycle in 2.4 s with a peak speed of 2.23 m/s, while two robots sustain more than 10 consecutive strikes in strict alternation.
Open source S5clearance-and-recovery cycle time
2.4
View original evidence
mpletes a 2.15 m clearance-and-recovery cycle in 2.4 s with a peak speed of 2.23 m/s, while two robots sustain more than 10 consecutive strikes in strict alternation.
Open source S5peak speed
2.23
View original evidence
mpletes a 2.15 m clearance-and-recovery cycle in 2.4 s with a peak speed of 2.23 m/s, while two robots sustain more than 10 consecutive strikes in strict alternation.
Open source S5consecutive strikes
>10
View original evidence
mpletes a 2.15 m clearance-and-recovery cycle in 2.4 s with a peak speed of 2.23 m/s, while two robots sustain more than 10 consecutive strikes in strict alternation.
Open source S5
What remains unknown
Not established in the collected evidence: Environment, Control, Data origin.
Reported performance applies to the described task. It does not establish general autonomy or deployment readiness.
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
one another to support rapid transitions. A racket-arm residual further refines strikes after movement using return feedback from a simulator calibrated with real ball-flight and contact measurements. In simulation, PingpongDuo improves the ball-return success rate by 13.2% over the state-of-the-art baseline, while achieving approximately 2 cm positioning error during clearance. In real-world experiments, a robot co
Open source S4
mpletes a 2.15 m clearance-and-recovery cycle in 2.4 s with a peak speed of 2.23 m/s, while two robots sustain more than 10 consecutive strikes in strict alternation.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org