Open Source
RedirectMimic: Local Motion Content Redaction for Humanoid Whole-Body Control
arXiv cs.RO0 views
arXiv:2611.14049v1 Announce Type: new Abstract: Humanoid motion interfaces should accommodate application-specific movement constraints while retaining useful reference behavior. Local content redaction requires a controller to replace selected movements even when it continues to receive the original reference. Removing the tracking incentive for those movements leaves their replacement unspecified. We introduce RedirectMimic, which separates the reference observed by the actor from the target used to train its execution. A rule-generated edited reference guides tracking rewards during proximal policy optimization, while the deployed observation and action interfaces remain unchanged. We evaluate pose- and speed-defined arm editing in Unitree G1 simulation using a tracker pretrained on 7,509 motion clips. On the overhead-arm task, RedirectMimic reduces core-window content occurrence to 2.7%, compared with 58.9% for reward zeroing and 32.8% for anti-tracking. It achieves 94.2% core-window joint success, combining content suppression, fall-free execution, and local retention. On the speed-defined task, fast outward arm movements occurred at similarly low rates under all three local editing methods. Across both tasks, RedirectMimic achieved the lowest replacement error among these methods and tracked unedited motions with accuracy comparable to that of the pretrained controller. Project page: https://xiaopeng-whu.github.io/RedirectMimic/.
Source:https://arxiv.org/abs/2611.14049PreviousLaST0.5: A Generalist World Action Model with Interaction-Centric Latent ReasoningNextA human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
Related posts
The Rise of Low Precision Floating Point
0arXiv cs.NA
A Projection Anderson Acceleration Algorithm for Non-quasi-monotone Variational Inequalities with H\"older Continuous Terms
0arXiv cs.NA
On bifurcations and traction forces on an obstacle in incompressible flow
0arXiv cs.NA
Gaussian mixture models in Hilbert spaces via kernel methods
0arXiv stat.ML
Elastic-WAM: Adaptive Spatiotemporal Imagination for Efficient Robot Control
0arXiv cs.RO

Parsing a whole PDF in one request with Unlimited OCR 2: the crop_mode setting and a silent cut
0dev.to Python