A teacher-student whole-body tracking controller with automated motion-data filtering and specialist fine-tuning outperforms prior methods on a Unitree G1 humanoid.
The mit humanoid robot: Design, motion planning, and control for acrobatic behaviors
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ExBody2: Advanced Expressive Humanoid Whole-Body Control
A teacher-student whole-body tracking controller with automated motion-data filtering and specialist fine-tuning outperforms prior methods on a Unitree G1 humanoid.