Reproduce “ReACT: Reflection-Consistent Modulation and Cross-Load Consistency for Humanoid Velocity Tracking Under Asymmetric Loads” on OpenResearch
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About this paper
Xianghui Wang, Aoran Fu, Liyou Luo, Shanze Wang, Xiaoyu Shen, Dan Zhang, Wei Zhang
ReACT adapts humanoid locomotion under one-handed loads by estimating load force and torque and modulating control in a reflection-consistent way. It trains on matched loaded and unloaded motion to reduce command-tracking differences across loads. In two tested navigation scenarios with 1.5 kg unilateral loads and a fixed planner, ReACT completed 40/40 trials without collision; FALCON failed all 40 through collisions.
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