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simmediumlocomotionmetric · varies
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
Description
Humanoid whole-body loco-manipulation promises transformative capabilities for daily service and warehouse tasks. While recent advances in general motion tracking (GMT) have enabled humanoids to reproduce diverse human motions, these policies lack the precision and object awareness required for loco-manipulation. To this end, we introduce ResMimic, a two-stage residual learning framework for precise and expressive humanoid control from human motion data. First, a GMT policy, trained on large-sca