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| Auteurs principaux: | , , , , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2603.16188 |
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| _version_ | 1866908893210214400 |
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| author | Jia, Haozhe Song, Jianfei Zhang, Yuan Jin, Honglei Fan, Youcheng Chen, Wenshuo Zhang, Wei Yue, Yutao |
| author_facet | Jia, Haozhe Song, Jianfei Zhang, Yuan Jin, Honglei Fan, Youcheng Chen, Wenshuo Zhang, Wei Yue, Yutao |
| contents | We present ECHO, an edge--cloud framework for language-driven whole-body control of humanoid robots. A cloud-hosted diffusion-based text-to-motion generator synthesizes motion references from natural language instructions, while an edge-deployed reinforcement-learning tracker executes them in closed loop on the robot. The two modules are bridged by a compact, robot-native 38-dimensional motion representation that encodes joint angles, root planar velocity, root height, and a continuous 6D root orientation per frame, eliminating inference-time retargeting from human body models and remaining directly compatible with low-level PD control. The generator adopts a 1D convolutional UNet with cross-attention conditioned on CLIP-encoded text features; at inference, DDIM sampling with 10 denoising steps and classifier-free guidance produces motion sequences in approximately one second on a cloud GPU. The tracker follows a Teacher--Student paradigm: a privileged teacher policy is distilled into a lightweight student equipped with an evidential adaptation module for sim-to-real transfer, further strengthened by morphological symmetry constraints and domain randomization. An autonomous fall recovery mechanism detects falls via onboard IMU readings and retrieves recovery trajectories from a pre-built motion library. We evaluate ECHO on a retargeted HumanML3D benchmark, where it achieves strong generation quality (FID 0.029, R-Precision Top-1 0.686) under a unified robot-domain evaluator, while maintaining high motion safety and trajectory consistency. Real-world experiments on a Unitree G1 humanoid demonstrate stable execution of diverse text commands with zero hardware fine-tuning. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_16188 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | ECHO: Edge-Cloud Humanoid Orchestration for Language-to-Motion Control Jia, Haozhe Song, Jianfei Zhang, Yuan Jin, Honglei Fan, Youcheng Chen, Wenshuo Zhang, Wei Yue, Yutao Computer Vision and Pattern Recognition We present ECHO, an edge--cloud framework for language-driven whole-body control of humanoid robots. A cloud-hosted diffusion-based text-to-motion generator synthesizes motion references from natural language instructions, while an edge-deployed reinforcement-learning tracker executes them in closed loop on the robot. The two modules are bridged by a compact, robot-native 38-dimensional motion representation that encodes joint angles, root planar velocity, root height, and a continuous 6D root orientation per frame, eliminating inference-time retargeting from human body models and remaining directly compatible with low-level PD control. The generator adopts a 1D convolutional UNet with cross-attention conditioned on CLIP-encoded text features; at inference, DDIM sampling with 10 denoising steps and classifier-free guidance produces motion sequences in approximately one second on a cloud GPU. The tracker follows a Teacher--Student paradigm: a privileged teacher policy is distilled into a lightweight student equipped with an evidential adaptation module for sim-to-real transfer, further strengthened by morphological symmetry constraints and domain randomization. An autonomous fall recovery mechanism detects falls via onboard IMU readings and retrieves recovery trajectories from a pre-built motion library. We evaluate ECHO on a retargeted HumanML3D benchmark, where it achieves strong generation quality (FID 0.029, R-Precision Top-1 0.686) under a unified robot-domain evaluator, while maintaining high motion safety and trajectory consistency. Real-world experiments on a Unitree G1 humanoid demonstrate stable execution of diverse text commands with zero hardware fine-tuning. |
| title | ECHO: Edge-Cloud Humanoid Orchestration for Language-to-Motion Control |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2603.16188 |