Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets
The paper introduces RECAL, a layer that enhances blind humanoid whole-body controllers by using scene geometry to prevent collisions when tracking imperfect targets. RECAL wraps a standard controller, allowing it to use robot and object point clouds to query the environment for collision-aware control features. This results in collision-free motion while maintaining target tracking capabilities.