A support-relative dynamic capture-point observation, reconstructible without base linear velocity, lets a humanoid policy hold clean single-leg balance at 86/90 in simulation and deploy on a Unitree G1 without distillation.
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First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance
A support-relative dynamic capture-point observation, reconstructible without base linear velocity, lets a humanoid policy hold clean single-leg balance at 86/90 in simulation and deploy on a Unitree G1 without distillation.