Here is a whole body tracking framework that enables humanoid robots to mimic motion based any reference motion input. The model is trained in simulation with RL and then transferred into real work. With this approach, humanoid robots can maintain stability while performing human-like motion.
This framework separates keypoint tracking from velocity control and utilizes a privileged teacher policy to teach the robot precise mimicry skills. It allows robots to perform running, dancing, and crouching.
[HT]