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simmediumhumanoidmetric · varies
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
Description
Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and intricate dynamics of humanoid robots make manual motion design impractical, leading to a heavy reliance on expensive motion capture (MoCap) data. These datasets are not only costly to acquire but also frequently lack the necessary geometric context of the surrounding