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About this paper
Weiji Xie, Jiakun Zheng, Jinrui Han, Jiyuan Shi, Weinan Zhang, Chenjia Bai, Xuelong Li
TextOp lets users revise text commands during humanoid motion. It converts current text and recent motion history into short-horizon kinematic references, then uses a whole-body tracker to control a Unitree G1. Measured user-interaction latency is 0.73 ± 0.10 seconds. Offline BABEL results improve FID and R@1 over DART+Retarget, while the system lacks environment perception and physical reasoning.
Key insights
- A two-level cognitive-physical architecture effectively separates semantic understanding from real-time physical execution, enabling interactive language-driven control.
- Designing motion representation specific to robot kinematics (DoF-based local incremental) significantly improves the quality and physical plausibility of generated motions.
- Augmenting the motion tracker's training data with samples from the motion generator improves its ability to robustly execute novel, dynamically generated reference motions in real-world deployment.
Summary by alphaXiv.
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