MIT's C-GMT gives humanoid robots whole-body compliance without sacrificing motion tracking
MIT_CSAIL · x · 2026-10-16
MIT Improbable AI Lab (Pulkit Agrawal's group) presents Compliant GMT (C-GMT), a modular framework adding whole-body compliant responses to general motion tracking for humanoids. Existing GMT policies train robots to be stiff, resisting unexpected contact unsafely; C-GMT keeps a pretrained tracker's generality while a residual adapter conditioned on proprioception history adds compliance. It matches state-of-the-art trackers on accuracy and single-motion compliant policies on compliance, with improved safety and robustness shown on a real Unitree G1 at 1× speed. Code coming soon.
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