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.
Huang,et al., Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control (2025),https://arxiv.org/abs/2503.11801
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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.
GPC learns a motion vocabulary via Finite Scalar Quantization and end-to-end RL, then trains an autoregressive transformer for next-token control generation, achieving 99.98% motion reproduction success with emergent robustness.
citing papers explorer
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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.
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GPC: Large-Scale Generative Pretraining for Transferable Motor Control
GPC learns a motion vocabulary via Finite Scalar Quantization and end-to-end RL, then trains an autoregressive transformer for next-token control generation, achieving 99.98% motion reproduction success with emergent robustness.