compliant humanoid whole-body controlExpert
Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation
This preprint adds a small add-on network to an existing humanoid motion controller so the robot gives way when something pushes or pulls it, instead of shoving back at full stiffness. On a Unitree G1 running a GR00T vision-language-action policy, the compliant version still lifted a box in 46 of 50 tries under a 60 N pull, against 28 of 50 for the stiff baseline.