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.
Hwangbo,et al., Learning agile and dynamic motor skills for legged robots.Science Robotics 4(26), eaau5872 (2019)
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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.