BeyondMimic combines compact motion tracking with a unified guided latent diffusion model to master diverse agile behaviors from human demos and solve unseen downstream tasks via test-time classifier guidance.
Wang,et al., HDC: Humanoid Diffusion Controller,https:// humanoid-diffusion-controller.github.io/(2025), project website with draft manuscript
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BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
BeyondMimic combines compact motion tracking with a unified guided latent diffusion model to master diverse agile behaviors from human demos and solve unseen downstream tasks via test-time classifier guidance.