Skip to content
RobotWorld
← Back to Videos

BRACE: Force- and Terrain-Aware Whole-Body Tracking for Humanoids

Loading video
Loading video

BRACE folds sloped terrain and commanded hand wrenches into the reference a humanoid tracks: terrain conformance lifts footholds and root onto the local surface, and a wrench transformation resolves the hand displacement plus COM and COP shifts behind each commanded force. Exertion and compensation teachers distill into one flow-matching student that runs on proprioception alone. On a real Unitree G1 it squats under a 3.5 kg kettlebell, rows against resistance bands and crosses ramps; at 20 N per-hand load its global tracking error is 283 mm versus 470 mm for the best baseline.

HumanoidWhole-Body ControlForce controlLocomotionSim-to-RealTeleoperationUnitree G1Multiply Labs
Category: humanoid
Author: @sudarshan_s_h
Date: 2026-10-13T00:00:00
Duration: 163.221s
Source: https://x.com/sudarshan_s_h/status/2110030299623215174
Reference: https://arxiv.org/abs/2610.07052

Related Videos

Light-O1: Two Humanoids in One Continuous Household Run
6:12

Light-O1: Two Humanoids in One Continuous Household Run

@HumanoidRTech · 814 views · 2026-09-25
Light-O1Light OriginsWhole-Body Control
ViBe: Visual Behavior Adaptation for Perceptive Humanoid Whole-Body Control
1:06

ViBe: Visual Behavior Adaptation for Perceptive Humanoid Whole-Body Control

@lok_s_h · 562 views · 2026-09-09
HumanoidWhole-Body ControlLocomotion
SkillX: one RL policy that dribbles, traps and shoots on a real Noetix E1
2:30

SkillX: one RL policy that dribbles, traps and shoots on a real Noetix E1

@RunhanH · 806 views · 2026-09-09
Humanoid SoccerHumanoidReinforcement Learning
RL Whole-Body Control Self-Trained in 3 Hours Replicates a Laundry Task in Browser MuJoCo
0:30

RL Whole-Body Control Self-Trained in 3 Hours Replicates a Laundry Task in Browser MuJoCo

@VectorWang2 · 137 views · 2026-10-13
HumanoidWhole-Body ControlReinforcement Learning
VioLA: Learning Generalist Humanoid Control From Human Data
0:43

VioLA: Learning Generalist Humanoid Control From Human Data

@annamanasyan4 · 229 views · 2026-10-09
HumanoidWhole-Body ControlLearning from Demonstration
Delta Intelligence unveils Delta-0: a humanoid foundation model for whole-body loco-manipulation across 69 DoFs
4:34

Delta Intelligence unveils Delta-0: a humanoid foundation model for whole-body loco-manipulation across 69 DoFs

@HumanoidRTech · 1.2k views · 2026-09-28
HumanoidMobile ManipulationWhole-Body Control

As an Amazon Associate, we earn from qualifying purchases.