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LAC: linear and angular compliance for humanoid whole-body control

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Researchers from Tohoku University introduce LAC, a learned controller that adjusts both linear and angular compliance of a Unitree G1 upper body through a single policy.

UnitreeG1人形机器人humanoid柔顺控制compliance全身控制whole-body controlLACTohoku Universitylearned controltechniahqrobotTwitter
Category: humanoid
Author: @techniahqrobot
Date: 2026-09-01T00:00:00
Duration: 14.066s
Source: https://x.com/techniahqrobot/status/2094904109149134968
Reference: https://lac-humanoid.github.io/

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