Motion imitation with deep reinforcement learning.
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ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.
- character-animation
- digital-human
- humanoid
- humanoid-robots
A lightweight suite of motion imitation methods for training controllers.
- animation
- reinforcement-learning
- robotics
- motion-imitation
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
- ai
- artificial-intelligence
- control-systems
- humanoid-robot
HALO: Perceptive Humanoid Motion from Simulation
Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU.
- humanoid-robotics
- lafan1
- mjlab
- motion-tracking
Whole-body motion tracking for the Unitree G1 in under 3 minutes on average on one GPU: return 0.82 with 0/40 clips failed, held from 2.74 min (mean of 15 seeds, range 2.21-3.61, fine checkpoints), 11.87 it/s (world model + Muon + overlapped CUDA streams, mjlab)
- humanoid
- robot-learning
- supermimic
- world-model
Whole-body motion tracking for the Unitree G1 in under a minute. BlinkMimic's world-model trainer rebuilt in JAX, 3.7x faster on four H100s.