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Expressive Whole-Body Control for Humanoid Robots
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2026-02-19 12:12:25
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Expressive Humanoid Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng* Yandong Ji* Junming Chen Ruihan Yang Ge Yang Xiaolong Wang RSS 2024 Paper arXiv Result Video Bilibili Summary Code Live Demo GTC 2024 Dance Motions from YouTube 🔈: Hover over the video to unmute. Click the video to resume if paused. Uptown Funk Hiphop Abstract Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data from the graphics community in a Reinforcement Learning framework. However, directly performing imitation learning with the motion capture dataset would not work on the real humanoid robot, given the large gap in degrees of freedom and phy...
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