ReflexArc: Bottom-Up Integration of Instantaneous Tactile Reflexes into Whole-Body Humanoid Control
Overview
This paper introduces ARC (Ascending Reflex Control), a framework that integrates instantaneous tactile reflexes with learned whole-body control for humanoid robots. The system detects hazardous contacts via full-body tactile sensing, solves withdrawal poses within 10 ms, and combines reflex-in-the-loop policy learning to maintain balance and complete recovery tasks. Evaluated on a Unitree G1, ARC reduces the first force peak by 34.1% compared to a delayed reflex baseline and lowers contact impulse from 0.2632 N s to 0.1225 N s. The authors also demonstrate protected motion tracking, teleoperation, and vision-free obstacle traversal guided by foot tactile sensing.
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Event evidence and corrections
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Reported quantity · contact impulse reduction: 0.1225 other · Basis not reported
“p policy learning, reflex-transparent policy alignment, and reflex-informed policy adaptation to sustain the withdrawal, maintain balance, and complete longer-horizon recovery. We deploy ARC on a Unitree G1 and evaluate three categories of hazardous contact. Compared with an otherwise identical reflex delayed by 20 ms, ARC reduces the first force peak by 34.1% and reduces the contact impulse from 0.2632 N s to 0.1225”
Exact source · revision 1Source owner not reported
Reported quantity · contact impulse before reduction: 0.2632 other · Basis not reported
“p policy learning, reflex-transparent policy alignment, and reflex-informed policy adaptation to sustain the withdrawal, maintain balance, and complete longer-horizon recovery. We deploy ARC on a Unitree G1 and evaluate three categories of hazardous contact. Compared with an otherwise identical reflex delayed by 20 ms, ARC reduces the first force peak by 34.1% and reduces the contact impulse from 0.2632 N s to 0.1225”
Exact source · revision 1Source owner not reported
Reported quantity · reflex pathway latency: 10 other · Basis not reported
“ottom-up framework that integrates instantaneous tactile reflexes with learned whole-body control. ARC consists of two components: an instantaneous reflex pathway and bottom-up reflex integration. The reflex pathway detects hazardous contacts from full-body tactile sensing, solves a whole-body withdrawal pose, and delivers it directly to the motors within 10 ms. Bottom-up reflex integration combines reflex-in-the-loo”
Exact source · revision 1Source owner not reported
Reported quantity · policy learning frequency: 50 other · Basis not reported
“arXiv:2611.04424v1 Announce Type: new Abstract: Humanoid robots operating in cluttered environments must react to unexpected contacts before the first impact peak, which arrives within tens of milliseconds. Learned whole-body policies running at 50 Hz introduce a policy-cycle delay and may suppress a protective withdrawal as a tracking error. To address these challenges, we propose ARC (Ascending Reflex Control), a b”
Exact source · revision 1Source owner not reported
Reported quantity · reflex delay comparison: 20 other · Basis not reported
“p policy learning, reflex-transparent policy alignment, and reflex-informed policy adaptation to sustain the withdrawal, maintain balance, and complete longer-horizon recovery. We deploy ARC on a Unitree G1 and evaluate three categories of hazardous contact. Compared with an otherwise identical reflex delayed by 20 ms, ARC reduces the first force peak by 34.1% and reduces the contact impulse from 0.2632 N s to 0.1225”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalReflexArc: Bottom-Up Integration of Instantaneous Tactile Reflexes into Whole-Body Humanoid Control
This paper introduces ARC (Ascending Reflex Control), a framework that integrates instantaneous tactile reflexes with learned whole-body control for humanoid robots. The system detects hazardous contacts via full-body tactile sensing, solves withdrawal poses within 10 ms, and combines reflex-in-the-loop policy learning to maintain balance and complete recovery tasks. Evaluated on a Unitree G1, ARC reduces the first force peak by 34.1% compared to a delayed reflex baseline and lowers contact impulse from 0.2632 N s to 0.1225 N s. The authors also demonstrate protected motion tracking, teleoperation, and vision-free obstacle traversal guided by foot tactile sensing.
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