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.
Unitracker: Learning universal whole-body motion tracker for humanoid robots
7 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 7representative citing papers
Imagine2Real enables zero-shot humanoid-object interaction by unifying motions as 4D point trajectories, tracking only base/hands/object keypoints inside a BFM latent space, and training with progressive simple rewards for mocap deployment.
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
Humanoid-LLA converts unconstrained natural language commands into stable whole-body motions for humanoid robots using a unified motion vocabulary and two-stage supervised-plus-reinforcement fine-tuning.
Scaling motion tracking models along size, data volume, and compute produces a foundation model for natural, robust humanoid whole-body control with downstream uses in kinematic planning and vision-language-action models.
Switch enables humanoid robots to perform agile, seamless transitions between locomotion skills via a kinematic skill graph, DRL tracking policy, and real-time graph-search scheduler.
UniCon standardizes states and control logic into modular execution graphs for efficient transfer of learning controllers across heterogeneous robots, with lower latency than ROS.
citing papers explorer
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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.
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Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
Imagine2Real enables zero-shot humanoid-object interaction by unifying motions as 4D point trajectories, tracking only base/hands/object keypoints inside a BFM latent space, and training with progressive simple rewards for mocap deployment.
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HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
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Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
Humanoid-LLA converts unconstrained natural language commands into stable whole-body motions for humanoid robots using a unified motion vocabulary and two-stage supervised-plus-reinforcement fine-tuning.
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SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
Scaling motion tracking models along size, data volume, and compute produces a foundation model for natural, robust humanoid whole-body control with downstream uses in kinematic planning and vision-language-action models.
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Switch: Learning Agile Skills Switching for Humanoid Robots
Switch enables humanoid robots to perform agile, seamless transitions between locomotion skills via a kinematic skill graph, DRL tracking policy, and real-time graph-search scheduler.
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UniCon: A Unified System for Efficient Robot Learning Transfers
UniCon standardizes states and control logic into modular execution graphs for efficient transfer of learning controllers across heterogeneous robots, with lower latency than ROS.