Whole-Body Controller
A component of humanoid robot locomotion control responsible for converting high-level goals into joint commands and maintaining balance. It is typically obtained by training with reinforcement learning in simulation.
Timeline (last 90 days)
HoloBoxing adopts a hierarchical control architecture: freezing a pretrained whole-body controller and training only a compact upper-layer planner.
The whole-body controller is responsible for converting high-level body point targets into joint torques or position commands and maintaining balance and gait stability.
All Facts (2)
HoloBoxing adopts a hierarchical control architecture: freezing a pretrained whole-body controller and training only a compact upper-layer planner.
50%UnverifiedThe whole-body controller is responsible for converting high-level body point targets into joint torques or position commands and maintaining balance and gait stability.
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