Expressive Whole-Body Control for Humanoid Robots

arXiv:2402.16796v2 Announce Type: replace-cross
Abstract: Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data from the graphics community in a Reinforcement Learning framework. However, directly performing imitation learning with the motion capture dataset would not work on the real humanoid …

abstract arxiv control cs.lg cs.ro data diverse generate human humanoid learn motion capture policy robot robots scale train type world