在任意扰动下追踪任意动作 (Track Any Motions under Any Disturbances)

A foundational humanoid motion tracker is expected to be able to track diverse, highly dynamic, and contact-rich motions. More importantly, it needs to operate stably in real-world scenarios against various dynamics disturbances, including terrains, external forces, and physical property changes for general practical use. To achieve this goal, we propose Any2Track (Track Any motions under Any disturbances), a two-stage RL framework to track various motions under multiple disturbances in the real world. Any2Track reformulates dynamics adaptability as an additional capability on top of basic action execution and consists of two key components: AnyTracker and AnyAdapter. AnyTracker is a general motion tracker with a series of careful designs to track various motions within a single policy. AnyAdapter is a history-informed adaptation module that endows the tracker with online dynamics adaptability to overcome the sim2real gap and multiple real-world disturbances. We deploy Any2Track on Unitree G1 hardware and achieve a successful sim2real transfer in a zero-shot manner. Any2Track performs exceptionally well in tracking various motions under multiple real-world disturbances.

翻译：一个基础的人形机器人动作追踪器应能追踪多样化、高度动态且接触密集的动作。更重要的是，为满足一般实际应用需求，它需要在现实世界场景中稳定运行，以应对各种动力学扰动，包括地形变化、外力作用以及物理属性改变。为实现此目标，我们提出了Any2Track（在任意扰动下追踪任意动作），这是一个两阶段强化学习框架，用于在现实世界中多种扰动下追踪各种动作。Any2Track将动力学适应性重新定义为在基本动作执行能力之上的附加能力，并包含两个关键组件：AnyTracker与AnyAdapter。AnyTracker是一个通用动作追踪器，通过一系列精心设计，能够以单一策略追踪多种动作。AnyAdapter是一个基于历史信息的自适应模块，它赋予追踪器在线动力学适应能力，以克服仿真到现实的差距以及多种现实世界扰动。我们将Any2Track部署于Unitree G1硬件，并以零样本方式成功实现了仿真到现实的迁移。Any2Track在多种现实世界扰动下追踪各类动作时表现卓越。