机器人接住抛来的盒子，靠的是人形本能
人形机器人一直学不会「接东西」——不是手不够快，是它得在不到一秒里，用眼睛判断盒子往哪飞、同时调动全身去迎。这篇把这件事拆成三步：先教身体怎么接，再教它从残缺的观测里猜盒子的轨迹，最后才教摄像头直接看懂画面。每一步单独练，最后在仿真里从第一视角 RGB-D 画面接住 85.7% 的盒子，和直接给「上帝视角」数据的 87.9% 几乎持平；真实机器人接人抛的盒子，2.5 米成功率 65%,5 米 40%，达到人类接球手同距离成功率的六成。它不是你明天能用上的东西，但「从画面直接驱动全身反应」这条路，是让机器人走出实验室、进到仓库和家庭的关键一步。
📄 原文摘要(英文)
Humans effortlessly react to the world; they adeptly return a tennis shot, catch a falling cup, step aside from a passing cart, or pass a box tossed during truck unloading. These everyday actions require anticipating a moving target and reflexively responding with the whole body within about a second. Such visual reactive whole-body control remains challenging for humanoids, which must (1) coordinate whole-body control, (2) react to object dynamics in real time, and (3) ground perception in egocentric vision. We study catching thrown boxes as a representative task that demands all three capabilities; existing systems cover only part of it, relying on end-effectors, motion capture, or marked objects. We present Reflex, a three-stage framework that learns these capabilities stage by stage while connecting them through a compact representation of object dynamics. First, a state-based policy learns whole-body catching with reinforcement learning. Second, the policy learns to infer the dynamics of a moving box from delayed and incomplete observations. Third, an egocentric RGB-D encoder learns to recover this dynamics representation directly from visual observations while keeping the whole-body controller fixed. This decomposition provides each capability with a direct training signal and makes visual learning substantially more scalable. In simulation, Reflex achieves 85.7% catch success from egocentric RGB-D, compared with 87.9% when given privileged box observations. Temporal visual history is critical: removing it reduces success by 35.6 and 39.8 points on centered and laterally offset throws. On a real Unitree G1, Reflex catches human-thrown boxes with 65% and 40% success at 2.5 and 5 m, reaching 76% and 59% of human catchers' success at the same distances.