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simmediumhumanoidmetric · varies
SoftMimic: Learning Compliant Whole-body Control from Examples
Description
We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing methods incentivize stiff control that aggressively corrects deviations from a reference motion, leading to brittle and unsafe behavior when the robot encounters unexpected contacts. In contrast, SoftMimic enables robots to respond compliantly to external forc