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Asynchronous Upper-Body Task-Space Tracking for Humanoid Robots
Researchers propose an asynchronous upper-body task-space tracking framework to address temporal asynchrony between low-rate planning and high-frequency execution in humanoid robots. The approach uses teacher-student distillation to initialize a student policy for improved trajectory tracking.
This framework helps bridge the gap between sparse high-level planning and continuous whole-body control, potentially enhancing humanoid robot performance in complex tasks. It addresses challenges in synchronizing planning and execution frequencies for better control fidelity.
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Score 74
Source Type arxiv
Reposts 0
Topic Quality 60
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