BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion

Understand

The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess.

• Learning from human demonstrations offers a scalable approach to acquiring these capabilities.
• However, prior works either produce unnatural motions or rely on motion-specific tuning to achieve satisfactory naturalness.
• Furthermore, these methods are often motion- or goal-specific, lacking the versatility to compose diverse skills, especially when solving unseen tasks.