BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
cs.RO
Submitted: 2026-10-05
Updated: 2026-10-05
Code: https://github.com/unitreerobotics/unitree_ros
Project page: https://multiplylabs.github.io/brace
Sources
- Track Any Motions under Any Disturbances
- ExBody2: Advanced Expressive Humanoid Whole-Body Control
- HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
- Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation
- CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
- HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum
- Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
- Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
- BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
- SoftMimic: Learning Compliant Whole-body Control from Examples
- Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
- GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
- XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation
- Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
- MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives
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