A modular system uses motion matching to compose long-horizon human skill chains, trains RL experts, and distills them into a depth-based policy that lets a Unitree G1 humanoid autonomously climb, vault, and roll over obstacles up to 1.25 m tall.
Drecon: data-driven responsive control of physics-based characters.ACM Transactions On Graphics (TOG), 38(6):1–11, 2019
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Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
A modular system uses motion matching to compose long-horizon human skill chains, trains RL experts, and distills them into a depth-based policy that lets a Unitree G1 humanoid autonomously climb, vault, and roll over obstacles up to 1.25 m tall.