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arXiv · 2610.09479

Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control

Joohwan Seo·Xiaofeng Guo·Jinkun Cao·Roberto Horowitz·Rocky Duan·Guanya Shi·Koushil Sreenath
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Abstract

Precise end-effector tracking during humanoid whole-body motion is challenging due to floating-base oscillations, gravity, dynamic coupling, and locomotion-induced disturbances. We propose ResGAC, a whole-body humanoid controller for precise end-effector pose tracking that combines geometric admittance control (GAC) with residual reinforcement learning. GAC provides structured $\SE$ task-space feedback and generates nominal arm joint-position targets, while residual RL compensates for unmodeled dynamics and coordinates locomotion and balance in the shared joint-position action space. The left-invariant geometric formulation allows the same GAC law to be used across manipulation reference frames. This enables the use of a ground-attached heading frame that preserves planar locomotion while removing pelvis roll, pitch, and heave from the manipulation reference, thereby reducing reference-induced end-effector motion during locomotion. ResGAC is validated on a real Unitree G1 humanoid. Across four standing end-effector tracking benchmarks, ResGAC consistently outperforms representative baselines, including SONIC, achieving lower translational and rotational errors. Real-world experiments further demonstrate reduced propagation of pelvis motion to the desired end-effector pose using the proposed ground-attached heading frame. ResGAC achieves $90\%$ success in a standing peg-in-hole task compared with $50\%$ for SONIC, and accurate world-frame $\SE$ end-effector pose tracking during lower-body motion. Experimental videos are included in the supplementary material and are also available on the project website: https://resgac.github.io/ResGAC-website/.

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Joohwan Seo, Xiaofeng Guo, Jinkun Cao, Roberto Horowitz, Rocky Duan, Guanya Shi, Koushil Sreenath. 2026-10-07. Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control. https://arxiv.org/abs/2610.09479

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