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simmediumhumanoidmetric · varies
Towards Adaptable Humanoid Control via Adaptive Motion Tracking
Description
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice imitation accuracy, whereas motion-tracking methods achieve accurate imitation yet require many training motions and a test-time target motion to adapt. To combine their strengths, we introduce AdaMimic, a novel motion tracking algorithm that enables adaptable hum