盲操作：宇树 G1 全靠本体感知完成踢球提箱滑板等全身任务
原标题：Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception
来源：arXiv cs.RO发布时间待核实
在宇树 G1 人形上仅用关节编码器本体感知（无相机、力矩或触觉传感器）训练出全身操作技能：抗推搡行走、足球停球、提行李箱、踏上随机摆放的滑板。研究表明合规接触下编码器读数构成「全身触觉通道」，可从中解码物体状态。
AI 中文摘要 · AI 生成
arXiv:2608.29487v1 Announce Type: new Abstract: We present blind, whole-body manipulation skills on a Unitree G1 humanoid using only onboard proprioception, without cameras, markers, force-torque, or tactile sensors. Despite this minimal sensing, the trained policies exhibit surprising capability across qualitatively different tasks: push-resilient bipedal walking without IMU feedback, active soccer ball trapping with a foot, seeking and lifting a suitcase by its handle, and mounting a randomly …