OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots

arXiv:2609.19582 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-18

Terminology

• Calibration — 46× in this paper · explained in 7 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Consistency — 7× in this paper · explained in 3 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Degeneracy — 1× in this paper · explained in 3 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving