LOCOMOTION
ReactiveBFM：面向通用人形机器人全身控制的反应式闭环运动规划
Xiao Chen, Weishuai Zeng, Xiaojie Niu, Zirui Wang, Jianan Li, Huayi Wang, Furui Xu, Jiahe Chen, Weixiang Zhong, Lihe Ding, Kailin Li, Jiangmiao Pang, Tai Wang, Tianfan Xue, Jingbo Wang
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出ReactiveBFM框架，通过调度前缀采样课程和异步重规划机制，解决了行为基础模型在环境变化下无法反应式协调的问题。在Unitree G1人形机器人上验证，该框架实现了前所未有的物理敏捷性和全身协调控制。
关键词
humanoidwhole-body controlmotion planningreactiveclosed-loop
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