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HumanoidsLatest publication Oct 22, 5:12 PM CDT

Five Body Targets Guide a Humanoid’s Whole-Body Motion

SP-HLM combines sparse task instructions with a learned motion prior, then tests the approach in simulation and on a Unitree G1.

Sophia Chen· · 1 min read

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Diagram showing the SP-HLM pipeline for sparse pose instructions, learned motion generation and whole-body control of a humanoid robot.

Image / arxiv.org

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