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Advanced Expressive Humanoid Whole-Body Control
Exbody2
Mazeyu Ji*Xuanbin Peng*Fangchen LiuJialong LiGe YangXuxin ChengXiaolong Wang This paper enables real-world humanoid robots to maintain stability while performing expressive motions like humans do. It decouples keypoint tracking with velocity control, and effectively leverages a privileged teacher policy to distill precise mimic skills into the target student policy, which enables high-fidelity replication of dynamic movements such as running, crouching, dancing, and other challenging motions.
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