KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills

Understand

Humanoid robots are promising to acquire various skills by imitating human behaviors.

• However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design.
• This paper presents a physics-based humanoid control framework, aiming to master highly-dynamic human behaviors such as Kungfu and dancing through multi-steps motion processing and adaptive motion tracking.
• For motion processing, we design a pipeline to extract, filter out, correct, and retarget motions, while ensuring compliance with physical constraints to the maximum extent.