这篇论文给微型人形机器人装上了VR遥操作+强化学习行走，ROBOTIS OP3能跑到0.45米/秒，还能搬40克小方块，挺有意思的。
论文为ROBOTIS OP3微型人形机器人开发了一整套远程全身控制栈，结合VR进行上肢遥操作、强化学习控制下肢平衡与行走。实验显示机器人能以0.45 m/s速度稳定行走，且手臂动作不影响步态。在立方体搬运任务中，操作员在10分钟内远程移动了2个40 g立方体，行走总距离5 m。该工作证明了微型人形机器人在远程全身操控场景中的可行性。
Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning
Full-sized humanoid robot capabilities have grown exponentially in recent years, aiming towards general-purpose deployment in human environments. A popular control method used by manufacturers utilizes Virtual Reality for upper-body teleoperation and Reinforcement Learning for lower-body balance and locomotion control. As a result, a single remote operator can see, manipulate, and navigate about a real, distant physical environment. This powerful control stack is often relegated to expensive full-sized robots, many of which are inaccessible to the research community. Miniature humanoids are more prevalent, but employ less biomimicry in their design (e.g. fewer sensors, Degrees of Freedom, etc) and lack similar developments. This paper describes a compliant full-body telepresence control stack developed from the ground up for miniature humanoids. Framework experimentation on ROBOTIS OP3 hardware showcases walking at speeds up to 0.45 m/s independent of arm motions. Tele-loco-manipulation is demonstrated via a cube relocation experiment with an expert human operator. On average, the teleoperated system moved 2 different 40 g cubes within 10 mins, walking a total distance of 5 m. Overall, the developed system shows potential for miniature humanoid tele-loco-manipulation.