ReACT: Reflection-Consistent Modulation and Cross-Load Consistency for Humanoid Velocity Tracking Under Asymmetric Loads
ReACT: Reflection-Consistent Modulation and Cross-Load Consistency for Humanoid Velocity Tracking Under Asymmetric Loads
This research presents ReACT, a framework designed to improve velocity tracking for humanoid robots carrying asymmetric loads. By using reflection-consistent disturbance modulation and cross-load tracking consistency training, the method compensates for load-induced biases while maintaining action correspondence. Experiments on a Unitree G1 humanoid robot in simulation demonstrate improved velocity tracking and reduced directional bias under varying loads. Real-world tests show collision-free goal reaching in all 40 navigation trials with unilateral hand loads using a fixed mapless navigation policy.
The paper introduces ReACT, a framework combining reflection-consistent disturbance modulation and cross-load tracking consistency training to improve velocity tracking on Unitree G1 under asymmetric loads; simulation results show reduced directional bias and real-world trials report collision-free goal reaching in all 40 tested navigation trials with a fixed mapless navigation policy.
Source: arXiv Robotics — research abstracts · Read original article ↗
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navigation trials
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orld experiments demonstrate collision-free goal reaching in all 40 tested navigation trials under unilateral hand loads with a fixed mapless navigation policy.
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40
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orld experiments demonstrate collision-free goal reaching in all 40 tested navigation trials under unilateral hand loads with a fixed mapless navigation policy.
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orld experiments demonstrate collision-free goal reaching in all 40 tested navigation trials under unilateral hand loads with a fixed mapless navigation policy.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org