Rhythm transfers interactive whole-body behaviors from simulation to real dual Unitree G1 humanoids via interaction-aware retargeting and graph-reward RL.
Gait-Net-augmented implicit kino-dynamic MPC for dy- namic variable-frequency humanoid locomotion over dis- crete terrains
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Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Rhythm transfers interactive whole-body behaviors from simulation to real dual Unitree G1 humanoids via interaction-aware retargeting and graph-reward RL.