让机器人跌倒后能像人一样平稳爬起，自动恢复追踪动作。
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior
- 用多种人类起身姿势训练机器人在摔倒后自主恢复
- 跌倒后100%成功恢复，运动误差和受力均优于其他方法
- 无需外部指令或切换策略，适合真实场景部署
人形机器人在正常运动范围内表现良好，但跌倒后会进入低姿态、多接触的状态，导致控制指令暂时失效。仅依赖追踪的策略可能追求不可行的目标，引发剧烈肢体调整，增加风险。我们提出StableMimic，一种超越常规追踪分布的统一追踪系统。通过在多个真人起身参考动作附近引入扰动重置，覆盖俯卧、仰卧、失衡及中间地面接触状态，训练出结构化的恢复行为，使机器人返回可追踪区域。由于追踪与恢复处于显著不同的状态-动作分布，StableMimic采用专用专家分别处理，并用本体感知门控持续融合动作。隐式后续状态目标在不暴露参考身份或阶段的前提下，教会机器人以人类参考为范式的恢复。部署时无需起身参考、恢复指令、轨迹检索或外部策略切换。在完整重定向的LAFAN1舞蹈子集上，StableMimic在四项追踪指标中均优于五种方法。在每种方法各100次匹配推倒测试中，其100%成功恢复，在七项后跌倒运动与载荷指标中六项最优，表明该协议下交互安全性提升。真实Unitree G1机器人在舞蹈与站立参考任务中的部署，定性展示了受限肢体运动、自主恢复与指令续接能力。
原文摘要 · Abstract (English)
Humanoid motion trackers perform reliably within learned tracking distributions, but falls can move the robot into low-height, contact-rich states from which an advancing command is temporarily unreachable. Tracking-only policies may chase infeasible references, producing rapid, large-amplitude limb corrections that increase risk to the robot and its surroundings. We present StableMimic, a unified tracker trained beyond the nominal tracking distribution. Perturbed resets around multiple human get-up references expose prone, supine, off-balance, and intermediate ground-contact states, shaping structured recovery that returns the robot to the trackable region. Because tracking and recovery occupy markedly different state--action distributions, StableMimic uses dedicated experts for each regime and a proprioceptive gate that continuously blends their actions. A hidden successor-state objective teaches human-reference-shaped recovery without exposing reference identity or phase to the deployed Actor; deployment requires no get-up reference, recovery command, trajectory retrieval, or external policy switch. On the complete retargeted LAFAN1 dance subset, StableMimic achieves the lowest errors on all four tracking metrics among five methods. Across 100 matched push-to-fall trials per method, it recovers in 100/100 and attains the lowest values on six of seven post-fall motion and load measures, supporting improved interaction safety under this protocol. Real Unitree G1 dance and standing-reference deployments qualitatively demonstrate bounded limb motion, autonomous recovery, and command resumption.
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