突破人形机器人高动态控制的通用性瓶颈,实现多样动作高保真执行。
OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
- 分两阶段训练:先用流匹配模型学通用动作,再针对性优化物理执行
- 在真实机器人上成功完成多种极端动作,保持高精度轨迹追踪
- 适合需要高动态、多任务机器人控制的研究与应用
高保真运动追踪是检验通用化、类人级运动技能的最终标准。然而,当前策略常遭遇‘通用性瓶颈’:随着动作库多样性增加,追踪精度不可避免下降,尤其在真实场景下执行高动态动作时。我们发现这一失败源于两个叠加因素:多动作优化中的学习瓶颈,以及真实执行中产生的物理可执行性约束。为此,我们提出OmniXtreme,一个可扩展框架,将通用运动技能学习与仿真到现实的物理技能精炼解耦。方法采用具有高容量架构的流匹配策略,无须干扰密集的多动作强化学习优化,即可扩展表征能力;随后通过考虑执行器特性的精炼阶段,确保在真实硬件上的鲁棒表现。大量实验表明,OmniXtreme在多样化、高难度数据集上均保持高保真追踪。在真实机器人上,统一策略成功执行多种极端动作,有效打破高动态人形控制中长期存在的保真度-可扩展性权衡难题。
原文摘要 · Abstract (English)
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion libraries scale in diversity, tracking fidelity inevitably collapses - especially for real-world deployment of high-dynamic motions. We identify this failure as the result of two compounding factors: the learning bottleneck in scaling multi-motion optimization and the physical executability constraints that arise in real-world actuation. To overcome these challenges, we introduce OmniXtreme, a scalable framework that decouples general motor skill learning from sim-to-real physical skill refinement. Our approach uses a flow-matching policy with high-capacity architectures to scale representation capacity without interference-intensive multi-motion RL optimization, followed by an actuation-aware refinement phase that ensures robust performance on physical hardware. Extensive experiments demonstrate that OmniXtreme maintains high-fidelity tracking across diverse, high-difficulty datasets. On real robots, the unified policy successfully executes multiple extreme motions, effectively breaking the long-standing fidelity-scalability trade-off in high-dynamic humanoid control.
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