发表机构
Multiply Labs; Brown University; University of New Mexico（Multiply Labs; 布朗大学; 新墨西哥大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
BRACE提出一种全身跟踪方法，通过将地形和负载纳入参考轨迹，结合力旋量变换与教师蒸馏，使机器人能在斜坡上施加和补偿手部力，无需高度图或力测量，实现远程操作下的力与地形感知跟踪。
AI 中文摘要
全身跟踪已成为操作员驱使人形机器人的接口，然而它所消耗的参考是在平地上记录且不携带任何负载的，因此跟踪器既不知道机器人必须与物体交换的力，也不知道它必须站立的地形。现有控制器只解决这一差距的一个方面：具备力能力的策略命令末端执行器施加力，但不规定全身姿态，而地形自适应跟踪器将负载视为需要抑制的扰动，而非需要指令的力旋量。我们提出了BRACE，一种全身跟踪器，它能在各种姿态下施加和补偿指令的手部力，同时在斜坡地形上跟随平地参考。BRACE不是让跟踪器去吸收负载和坡度，而是将两者纳入其跟随的参考中：地形顺应将落脚点和根节点提升到局部表面，而力旋量变换则解析出产生力的手部位移，该位移与它引起的质心和压力中心位移共同作用，并受教师特定的手臂用力极限约束。分离的施加和补偿教师通过DAgger蒸馏成一个仅依赖本体感觉运行的流匹配学生，无需高度图或测量的力旋量，因此远程操作员（即使在偏远位置）可以提供平地轨迹，机器人则在机载上解决坡度和负载问题。我们在Unitree-G1上进行了大量实验，以证明BRACE在仿真和真实机器人实验中施加力、补偿力以及处理多样地形的能力。
英文摘要
Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the tracker is aware of neither the forces the robot must exchange with objects nor the terrain it must stand on. Existing controllers address one side of this gap: force-capable policies command an end-effector force but prescribe no whole-body pose, while terrain-adaptive trackers treat loads as disturbances to reject rather than wrenches to command. We present BRACE, a whole-body tracker that exerts and compensates commanded hand forces from diverse poses while following a flat-ground reference on sloped terrain. Rather than leaving the tracker to absorb the load and the slope, BRACE folds both into the reference it follows: terrain conformance lifts footholds and root onto the local surface, and a wrench transformation resolves the hand displacement that produces a force jointly with the center-of-mass and center- of-pressure shifts it induces, bounded by teacher-specific arm-effort limits. Separate exertion and compensation teachers are distilled by DAgger into one flow-matching student that runs on proprioception alone, without a height map or measured wrench, so a teleoperator (even in remote locations) can supply a flat- ground trajectory and the robot resolves slope and load onboard. We extensive experiments on the Unitree-G1 to demonstrate the ability of BRACE to exert, compensate force and handle diverse terrain in simulation and real robot experiments.
