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
Original title: Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception
Source: arXiv cs.ROPublish time unverified
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。
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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.