SPRINT generates sprint trajectories for humanoids via spectral priors from five human motion sequences, achieving 6 m/s peak velocity with zero-shot sim-to-real transfer on Unitree G1.
Run: Residual policy for natural humanoid locomotion,
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SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints
SPRINT generates sprint trajectories for humanoids via spectral priors from five human motion sequences, achieving 6 m/s peak velocity with zero-shot sim-to-real transfer on Unitree G1.