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About this paper
Venki Parsuram, Michelle Wang, Jin-Hyuk Hong, Pulkit Agrawal
C-GMT makes humanoid motion tracking yield to hand contact by adapting the motion reference before a pretrained tracker executes it. A teacher trains the adapter using force and stiffness; deployment uses proprioceptive history and commanded stiffness. In a box task, C-GMT succeeded in 46 of 50 trials under a 60 N pull, versus 28 of 50 for SONIC; this compares systems in one setup.
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