LATIDIA · Robótica

Modelo de base del comportamiento perceptivo: adaptación de los antecedentes del movimiento humano al terreno centrado en el robot

arXiv: 2606.08059v3Tipo de anuncio: reemplazar Resumen: Los modelos de base de comportamiento humanoide tienen como objetivo adquirir políticas de control de todo el cuerpo reutilizables a partir de amplios antecedentes de movimiento humano, lo que permite que un solo controlador produzca diversos

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arXiv:2606.08059v3 Announce Type: replace Abstract: Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human motion priors, enabling a single controller to produce diverse and expressive behaviors. However, existing motion-centric foundation policies largely assume that the reference motion is already physically compatible with the robot's surroundings. This assumption breaks when the demonstrator, operator, and robot inhabit different environments: a human motion may specify the intended behavior, but not the footholds, clearance, body height, or contact timing required by the robot's local terrain. We introduce \emph{Perceptive Behavior Foundation Model} (Perceptive BFM), a terrain-aware humanoid control framework that grounds human motion priors in robot-centric perception. The model preserves