A multi-condition latent diffusion model transfers human motion styles to diverse humanoid robot contents with physics regularizations, achieving 96% success in real-robot trials on Unitree G1.
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SRL combines SLIP feedforward with RL feedback to produce stable bipedal and quadrupedal jumps with lower training cost than pure RL.
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Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots
A multi-condition latent diffusion model transfers human motion styles to diverse humanoid robot contents with physics regularizations, achieving 96% success in real-robot trials on Unitree G1.
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SRL: Combining SLIP Model and Reinforcement Learning for Agile Robotic Jumping
SRL combines SLIP feedforward with RL feedback to produce stable bipedal and quadrupedal jumps with lower training cost than pure RL.