A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

2026-09-01

AI Summary

该研究提出一种适用于人形机器人的快速、鲁棒且可适应的行为编辑与运行系统，通过行为架构和实时编辑能力解决复杂环境下的任务执行问题。

Abstract

There is tremendous value in humanoid robots taking on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole-body motion, perception, contact, and operator supervision. We present a robot-local, runtime-editable behavior authoring and runtime system that addresses these challenges. We argue that behavior architecture can be a primary enabler of capability, speed, and reliability, and that runtime editability enables fast behavior creation, adaptation, extension, and combination. Our behavior architecture combines object-centric Affordance Templates, a tree structure that provides organization and logic, and runtime-editable perception through a behavior scene and primitive scene actions. Our operator interface remains continuously synchronized to the robot for runtime authoring, monitoring, and repair. Action primitives execute through a whole-body controller that supports concurrent body motions and walking. Demonstrations of our system cover six task variants on Unitree H1-2 and Alex. We execute a push door traversal in 34 seconds and sort six balls by color in 45 seconds under human disturbance. Timed authoring sessions show scratch creation of new loco-manipulation behaviors and adaptation of existing ones in hours. Comparison against the literature finds our approach to be competitive with recent learned systems.

Problem

• humanoid robots
• loco-manipulation
• behavior architecture
• runtime editability
• whole-body controller

Innovation

• runtime-editable behavior
• Affordance Templates
• whole-body controller