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arXiv Robotics — research abstracts· Yikai Wang, Honghao Zhu, Xiao Hu, Hao Zhang, Zelin Wang, Yip Fun Yeung, Ding Zhao, Lingfeng Sun·· 4 days agoEditorial score62

KPI: A Promptable Kernel for Physical Interaction on Humanoids

KPI: A Promptable Kernel for Physical Interaction on Humanoids

Summary

This research introduces KPI, a promptable kernel for physical interaction on humanoids, which allows trajectory sources to send contracts specifying force ranges and interaction behaviors. The kernel adapts stiffness, damping, and reference values in real-time based on tracking error and wrench estimates, enabling instruction-driven tasks like winch operation and door opening without task-specific code.

Evidence and limits

Published automatically after robotics and source-evidence checks; no manual editorial approval is recorded. Source assertions are not independently verified. Missing information remains not reported.

Environment:
SimulationSource E1
Control:
TeleoperatedSource E1
Data origin:
Not reported
Source excerpts and review record

No manual editorial approval recorded.

Original source quotation: “Single-task policies usually reach hard interactions by optimising trajectory and controller together in simulation;”

Source E1

Source：arXiv Robotics — research abstracts · arxiv.org

#Research#Robot policies#Imitation learning#Manipulation#Berkeley Robotics#Stanford Robotics