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.
Kajita,et al., Biped walking pattern generation by using preview control of zero- moment point, in2003 IEEE international conference on robotics and automation (Cat
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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.