ReACT: Reflection-Consistent Modulation and Cross-Load Consistency for Humanoid Velocity Tracking Under Asymmetric Loads
Overview
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.
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Reported quantity · navigation trials: 40 other · reported trials
“orld experiments demonstrate collision-free goal reaching in all 40 tested navigation trials under unilateral hand loads with a fixed mapless navigation policy.”
Exact source · revision 1Source owner not reported
Reported quantity · trials: 40 other · reported trials
“orld experiments demonstrate collision-free goal reaching in all 40 tested navigation trials under unilateral hand loads with a fixed mapless navigation policy.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalReACT: 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.
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