UniAct: Unified Control for Humanoid Robots
Analysis
Key Takeaways
- •UniAct is a two-stage framework for humanoid robot control.
- •It uses a fine-tuned MLLM and a causal streaming pipeline.
- •It achieves low-latency execution of multimodal instructions.
- •It utilizes a shared discrete codebook for cross-modal alignment.
- •It shows improved performance in zero-shot tracking.
- •Validated on a new humanoid motion benchmark (UniMoCap).
“UniAct achieves a 19% improvement in the success rate of zero-shot tracking of imperfect reference motions.”