HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking

Description

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion agility, they often bypass explicit reasoning about robot dynamics during deployment, which is a design choice that can lead to physically infeasible commands when the robot encounters out-of-distribution environments. By integrating model-based principles, hyb

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