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KPI Adds an Interaction Contract to Humanoid Control

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KPI sits between motion generation and an unmodified Unitree G1 tracker, converting language into contact contracts that adapt impedance, reference and feedforward at 100 Hz without a wrist force sensor.

HumanoidContact ControlImpedance ControlWrench EstimationUnitree G1KPI
Category: humanoid
Author: @LeoKharon
Date: 2026-10-25T00:00:00
Duration: 32.566s
Source: https://x.com/LeoKharon/status/2114342119552790880

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