A diffusion-based motion generator combined with an RL motion tracker enables terrain-aware whole-body locomotion on a humanoid robot by adapting reference motions online from perception.
Closd: Closing the loop between simulation and diffusion for multi-task character control,
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Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
A diffusion-based motion generator combined with an RL motion tracker enables terrain-aware whole-body locomotion on a humanoid robot by adapting reference motions online from perception.