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.
Learned perceptive for- ward dynamics model for safe and platform-aware robotic navigation
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RAY-TOLD combines ray-based latent dynamics from LiDAR with MPPI control and a learned policy prior via mixture sampling to lower collision rates in high-density dynamic obstacle environments compared to standard MPPI.
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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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RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC
RAY-TOLD combines ray-based latent dynamics from LiDAR with MPPI control and a learned policy prior via mixture sampling to lower collision rates in high-density dynamic obstacle environments compared to standard MPPI.