KPI: A Promptable Kernel for Physical Interaction on Humanoids
Overview
KPI enables physical interaction on humanoids by allowing trajectory sources to specify force ranges and behaviors. The kernel adapts stiffness and damping in real-time.
Generated from attributed reports · 4 days agoUpdated
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“Single-task policies usually reach hard interactions by optimising trajectory and controller together in simulation;”
Exact source · revision 1Source owner not reported
Control: teleoperated
“Single-task policies usually reach hard interactions by optimising trajectory and controller together in simulation;”
Exact source · revision 1Source owner not reported
Report timeline
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- arXiv Robotics — research abstractsKPI: A Promptable Kernel for Physical Interaction on Humanoids
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.
Event attention history
Current attention 5·Peak within the comparable range 9（2026-09-30 07:00 UTC）·Change within the comparable range over 24 hours –
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