2 papers
cs.LG2026
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation
Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman +1
Reinforcement learning can produce robust humanoid controllers, but each new task is typically trained as a separate policy with its own reward design and training process. Motion…
cs.RO2026
What Matters in Humanoid General Motion Tracking? An Empirical Study
Fabio Amadio, Enrico Mingo Hoffman
Humanoid general motion tracking requires policies that can follow diverse whole-body references while maintaining balance. Building such policies involves many practical design ch…