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.
Kungfubot: Physics-based humanoid whole- body control for learning highly-dynamic skills
9 Pith papers cite this work. Polarity classification is still indexing.
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CEER proposes a compliant end-effector and root control interface that unifies loco-manipulation for humanoids via a distilled low-level policy and hierarchical planners.
LineRides enables commandable bicycle robot stunts via line-guided RL that uses spatial guidelines, a tracking margin for feasibility, distance-based progress, and sparse key-orientations.
Re²MoGen generates open-vocabulary motions via MCTS-enhanced LLM keyframe planning, pose-prior optimization with dynamic temporal matching fine-tuning, and physics-aware RL post-training, claiming SOTA performance.
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.
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
Switch enables humanoid robots to perform agile, seamless transitions between locomotion skills via a kinematic skill graph, DRL tracking policy, and real-time graph-search scheduler.
Tree Learning uses root-branch parameter inheritance and multi-modal adaptation to enable continual multi-skill learning in humanoid robots, achieving higher rewards and 100% retention versus joint training in Unity simulations.
citing papers explorer
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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.
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HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.