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Remarkably lifelike motion and fluidity. BeyondMimic is a framework for training humanoid whole-body control from large mocap datasets. First, an open-source motion-tracking pipeline to reproduce diverse, highly dynamic human skills on real hardware, then distilling them into a guided state-action diffusion model for zero-shot, task-specific control. Project page:

The Humanoid Hub

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58,081 views • 11 months ago •via X (Twitter)

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Humanoids finally move like humans… and can do more than copy. [Details + demos in thread 👇] A new framework, BeyondMimic, shows how to learn naturalistic whole-body control from human motion. But then goes further by composing those skills into versatile, zero-shot policies. Two key pieces make it work: •Motion tracking pipeline: robustly turns human mocap into dynamic robot motions (jump spins, sprinting, cartwheels) on real hardware •Guided diffusion policy: distills motion primitives and enables zero-shot downstream tasks with simple cost functions The result: ✅ State-of-the-art motion quality from mocap tracking ✅ Versatile task execution; waypoint navigation, joystick teleop, obstacle avoidance ✅ Stable sim-to-real transfer for diverse humanoid skills Thank you for sharing, Qiayuan Liao! 📍 Paper: Video:

Humanoids finally move like humans… and can do more than copy. [Details + demos in thread 👇] A new framework, BeyondMimic, shows how to learn naturalistic whole-body control from human motion. But then goes further by composing those skills into versatile, zero-shot policies. Two key pieces make it work: •Motion tracking pipeline: robustly turns human mocap into dynamic robot motions (jump spins, sprinting, cartwheels) on real hardware •Guided diffusion policy: distills motion primitives and enables zero-shot downstream tasks with simple cost functions The result: ✅ State-of-the-art motion quality from mocap tracking ✅ Versatile task execution; waypoint navigation, joystick teleop, obstacle avoidance ✅ Stable sim-to-real transfer for diverse humanoid skills Thank you for sharing, Qiayuan Liao! 📍 Paper: Video:

Ilir Aliu - eu/acc

72,522 views • 11 months ago

Full-body joint tracking + smart gloves capture every nuance of human motion, which is retargeted in real-time to a humanoid robot (here, Tesla Optimus) for smooth teleoperation. This is the power of inertial motion capture. More than control, mocap is the gold standard for collecting high-fidelity humanoid training data. Advanced AI algorithms transform raw accelerometer streams into precise 3D joint poses, turning human movement into lifelike robot action.

Full-body joint tracking + smart gloves capture every nuance of human motion, which is retargeted in real-time to a humanoid robot (here, Tesla Optimus) for smooth teleoperation. This is the power of inertial motion capture. More than control, mocap is the gold standard for collecting high-fidelity humanoid training data. Advanced AI algorithms transform raw accelerometer streams into precise 3D joint poses, turning human movement into lifelike robot action.

Reborn

95,478 views • 11 months ago

HumanX: a scalable framework that converts single monocular human videos into agile, generalizable interaction skills for humanoid robots without task-specific rewards. Core parts: - XGen: retargets human motion + synthesizes diverse physically plausible training data (via physics-driven object trajectories and augmentation). - XMimic: unified imitation pipeline for robust generalization. Shows promising results for both Blind (no external sensors) and MoCap modes.

HumanX: a scalable framework that converts single monocular human videos into agile, generalizable interaction skills for humanoid robots without task-specific rewards. Core parts: - XGen: retargets human motion + synthesizes diverse physically plausible training data (via physics-driven object trajectories and augmentation). - XMimic: unified imitation pipeline for robust generalization. Shows promising results for both Blind (no external sensors) and MoCap modes.

The Humanoid Hub

20,358 views • 5 months ago

🎾Your humanoid tennis player is here!🤖 Introducing LATENT (Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data) — the world’s first real-time whole-body planning and control algorithm for athletic humanoid tennis. For the first time, a humanoid robot can sustain high-dynamic, long-horizon tennis rallies with millisecond-level reactions, precise ball striking, and natural whole-body motion. This marks a leap from mechanical motion imitation to intelligent, decision-driven athletic interaction. #Galbot #Robotics #Innovation #AI #Technology #Humanoid

🎾Your humanoid tennis player is here!🤖 Introducing LATENT (Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data) — the world’s first real-time whole-body planning and control algorithm for athletic humanoid tennis. For the first time, a humanoid robot can sustain high-dynamic, long-horizon tennis rallies with millisecond-level reactions, precise ball striking, and natural whole-body motion. This marks a leap from mechanical motion imitation to intelligent, decision-driven athletic interaction. #Galbot #Robotics #Innovation #AI #Technology #Humanoid

Galbot

45,731 views • 4 months ago

Big news from the TeleAI embodied intelligence team! They unveiled TextOp, a general cerebellar framework for real-time, text-driven humanoid control. TextOp lets humans control the robot via natural language, dynamically modifying instructions during runtime to instantly generate smooth, whole-body actions. This enables precise and highly versatile control. The framework uses a two-layer architecture: an action diffusion model (High-Level) and a general motion tracking policy (Low-Level). It’s a new paradigm that eliminates the need for pre-recorded scripts or manual programming.

Big news from the TeleAI embodied intelligence team! They unveiled TextOp, a general cerebellar framework for real-time, text-driven humanoid control. TextOp lets humans control the robot via natural language, dynamically modifying instructions during runtime to instantly generate smooth, whole-body actions. This enables precise and highly versatile control. The framework uses a two-layer architecture: an action diffusion model (High-Level) and a general motion tracking policy (Low-Level). It’s a new paradigm that eliminates the need for pre-recorded scripts or manual programming.

RoboHub🤖

23,804 views • 7 months ago

How can we build a general-purpose “foundation model” for robot motion? Zhengyi “Zen” Luo joins us to talk about SONIC, which uses motion tracking as a foundational task for humanoid robot control, and scales humanoid control training to 9k GPU hours and 100 million frames worth of data. The result: a model with a generally-useful embedding space that can be controlled by a VLA, or from human video, to perform a wide variety of humanoid whole-body-control tasks, including with zero-shot transfer to previously unseen motions. Watch episode 72 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!

How can we build a general-purpose “foundation model” for robot motion? Zhengyi “Zen” Luo joins us to talk about SONIC, which uses motion tracking as a foundational task for humanoid robot control, and scales humanoid control training to 9k GPU hours and 100 million frames worth of data. The result: a model with a generally-useful embedding space that can be controlled by a VLA, or from human video, to perform a wide variety of humanoid whole-body-control tasks, including with zero-shot transfer to previously unseen motions. Watch episode 72 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!

RoboPapers

24,802 views • 3 months ago

How do you give a humanoid the general motion capability? Not just single motions, but all motion? Introducing SONIC, our new work on supersizing motion tracking for natural humanoid control. We argue that motion tracking is the scalable foundation task for humanoids. So we "supersized" it: 9k+ GPU hours and 100M+ motion frames. But tracking alone is not enough; we show how to make a useful control system out of it: - Universal Kinematic Planner: Enables game-like gamepad control and high-level teleoperation, just like controlling a character in a game. - VR Full-Body Teleop: Direct, real-time whole-body control by a human wearing a VR headset. - VR Keypoint Teleop: Control the upper body (hands/head) while our planner handles robust locomotion automatically. - VLA Integration: We connect this motion tracker to autonomous Visual-Language-Action (VLA) models for autonomous task execution! We use a Universal Token Space to UNIFY this command space, turning our robust tracker into a general-purpose, programmable humanoid brain. This is the generalist "System 1" for humanoids. 🚀 Project: #Humanoids #Robotics #AI #FoundationModels #NVIDIAResearch 🧠🔥

How do you give a humanoid the general motion capability? Not just single motions, but all motion? Introducing SONIC, our new work on supersizing motion tracking for natural humanoid control. We argue that motion tracking is the scalable foundation task for humanoids. So we "supersized" it: 9k+ GPU hours and 100M+ motion frames. But tracking alone is not enough; we show how to make a useful control system out of it: - Universal Kinematic Planner: Enables game-like gamepad control and high-level teleoperation, just like controlling a character in a game. - VR Full-Body Teleop: Direct, real-time whole-body control by a human wearing a VR headset. - VR Keypoint Teleop: Control the upper body (hands/head) while our planner handles robust locomotion automatically. - VLA Integration: We connect this motion tracker to autonomous Visual-Language-Action (VLA) models for autonomous task execution! We use a Universal Token Space to UNIFY this command space, turning our robust tracker into a general-purpose, programmable humanoid brain. This is the generalist "System 1" for humanoids. 🚀 Project: #Humanoids #Robotics #AI #FoundationModels #NVIDIAResearch 🧠🔥

Zhengyi “Zen” Luo

62,040 views • 8 months ago

LeVERB is a VLA framework for humanoid whole-body control, combining a vision-language model and a low-level controller via a shared latent action space, trained entirely in sim, deployed zero shot.

LeVERB is a VLA framework for humanoid whole-body control, combining a vision-language model and a low-level controller via a shared latent action space, trained entirely in sim, deployed zero shot.

The Humanoid Hub

10,233 views • 1 year ago

🤔 Ever wondered if simulation-based animation/avatar learnings can be applied to real humanoid in real-time? 🤖 Introducing H2O (Human2HumanOid): - 🧠 An RL-based human-to-humanoid real-time whole-body teleoperation framework - 💃 Scalable retargeting and training using large human motion dataset - 🎥 With just an RGB camera, everyone can teleoperate a full-sized humanoid to perform actions like pick and place, walking, kicking, boxing, etc - 💡Unleash the potential of humanoids with human cognitive skills and adaptability 🔗: 📄: 🎬: H2O proposes: - A scalable retargeting framework for obtaining large-scale humanoid motion dataset, intelligently filtering out infeasible motion for the humanoid embodiment. - We train a full-body motion imitator (similar to PHC) and deploy to the real world zero-shot. - Using this framework, we enable real-time teleoperation of a humanoid via a human operator and webcam, performing skills such as pick and place, kicking, walking strollers, etc. Team: Tairan He Zhengyi “Zen” Luo Wenli Xiao @ChongZitaZhang Kris Kitani Changliu Liu Guanya Shi

Zhengyi “Zen” Luo

47,305 views • 2 years ago

🤖✨Excited to share our new work: OMG: Omni-Modal Motion Generation for Generalist Humanoid Control What if a humanoid could understand intent from language, music/audio, human motion, or their combinations—and turn it into executable whole-body motion in real time? [🧵1/11]

🤖✨Excited to share our new work: OMG: Omni-Modal Motion Generation for Generalist Humanoid Control What if a humanoid could understand intent from language, music/audio, human motion, or their combinations—and turn it into executable whole-body motion in real time? [🧵1/11]

Siqiao Huang

12,780 views • 1 month ago

Meet Any2Track, a new two-stage RL framework designed to address a core challenge for humanoid robots: reliably tracking diverse, dynamic motions in the real world. The framework consists of two key components: AnyTracker, a general motion tracker, and AnyAdapter, a module that allows the robot to adapt to real-world disturbances like uneven terrain or external forces. This approach gives robots the stability needed for practical use. The system has been successfully deployed on a Unitree G1 humanoid robot with zero-shot sim2real transfer, performing exceptionally well in various motion tracking tasks under multiple real-world disturbances. Project: Codebase:

Meet Any2Track, a new two-stage RL framework designed to address a core challenge for humanoid robots: reliably tracking diverse, dynamic motions in the real world. The framework consists of two key components: AnyTracker, a general motion tracker, and AnyAdapter, a module that allows the robot to adapt to real-world disturbances like uneven terrain or external forces. This approach gives robots the stability needed for practical use. The system has been successfully deployed on a Unitree G1 humanoid robot with zero-shot sim2real transfer, performing exceptionally well in various motion tracking tasks under multiple real-world disturbances. Project: Codebase:

RoboHub🤖

61,378 views • 10 months ago

X-Humanoid unveiled TG-VLA, which it calls the world's first whole-body VLA framework for full-size humanoid robots. The goal: move humanoids past "mobile dual-arm systems" to human-like, whole-body coordinated operation. Built on three technologies: - HEX: an open-source full-size humanoid VLA that learns across embodiments and coordinates the whole body. Claimed SOTA on real-world whole-body manipulation - HAF-VLA: hierarchical action flow that decomposes whole-body motion into subtasks. Best or joint-best on 6 benchmarks - DSRL-DCT: online RL for high-DoF humanoids in a compressed latent space. 100% success on mobile manipulation HEX is open-source.

X-Humanoid unveiled TG-VLA, which it calls the world's first whole-body VLA framework for full-size humanoid robots. The goal: move humanoids past "mobile dual-arm systems" to human-like, whole-body coordinated operation. Built on three technologies: - HEX: an open-source full-size humanoid VLA that learns across embodiments and coordinates the whole body. Claimed SOTA on real-world whole-body manipulation - HAF-VLA: hierarchical action flow that decomposes whole-body motion into subtasks. Best or joint-best on 6 benchmarks - DSRL-DCT: online RL for high-DoF humanoids in a compressed latent space. 100% success on mobile manipulation HEX is open-source.

The Humanoid Hub

19,563 views • 15 days ago

🤖 Introducing H2O (Human2HumanOid): - 🧠 An RL-based human-to-humanoid real-time whole-body teleoperation framework - 💃 Scalable retargeting and training using large human motion dataset - 🎥 With just an RGB camera, everyone can teleoperate a full-sized humanoid to perform actions like pick and place, walking, kicking, boxing, etc - 💡Unleash the potential of humanoids with human cognitive skills and adaptability 🔗:

🤖 Introducing H2O (Human2HumanOid): - 🧠 An RL-based human-to-humanoid real-time whole-body teleoperation framework - 💃 Scalable retargeting and training using large human motion dataset - 🎥 With just an RGB camera, everyone can teleoperate a full-sized humanoid to perform actions like pick and place, walking, kicking, boxing, etc - 💡Unleash the potential of humanoids with human cognitive skills and adaptability 🔗:

Tairan He

96,738 views • 2 years ago

HDMI (HumanoiD iMitation for Interaction) is a framework enabling humanoid robots to learn whole-body object interaction skills from monocular RGB human videos. It extracts and retargets human poses and object trajectories using GVHMR and LocoMujoco, building reference datasets with contact annotations. The data is used to train an RL policy via robot-object co-tracking. HDMI achieved 67 consecutive door traversals.

HDMI (HumanoiD iMitation for Interaction) is a framework enabling humanoid robots to learn whole-body object interaction skills from monocular RGB human videos. It extracts and retargets human poses and object trajectories using GVHMR and LocoMujoco, building reference datasets with contact annotations. The data is used to train an RL policy via robot-object co-tracking. HDMI achieved 67 consecutive door traversals.

The Humanoid Hub

17,395 views • 9 months ago

UK-based startup 'Humanoid' announced KinetIQ, an AI framework with a Vision-Language-Action (VLA) model at its core. It uses a four-layer architecture: fleet orchestration, task decomposition, VLA, and RL for whole-body control. It works on both bipedal and wheeled robots.

UK-based startup 'Humanoid' announced KinetIQ, an AI framework with a Vision-Language-Action (VLA) model at its core. It uses a four-layer architecture: fleet orchestration, task decomposition, VLA, and RL for whole-body control. It works on both bipedal and wheeled robots.

The Humanoid Hub

21,954 views • 5 months ago

An interactive world model developed by NVIDIA in collaboration with academic partners. - DreamDojo turns egocentric human video data into physical intelligence. - Human data is more scalable than robotics data but lacks action labels. - To solve this, a dedicated action model extracts latent actions by identifying physics and motion deltas between frames. Training - A massive 44k hours of video data are used for pre-training. - Post-training on small-scale robot datasets maps human physics to specific robot embodiments. - An additional distillation stage converts the model into an autoregressive, few-step diffusion model, enabling real-time, action-controllable simulation. Primary Use Cases - Live Teleoperation: Controlling a robot inside a world simulation in real-time. - Model-based Planning: Previewing and curating the best actions for improved success. - Policy Evaluation: Testing robot policies in realistic, out-of-distribution scenarios. Everything that's open-sourced: weights, code, post-training dataset, eval set, and details to reproduce.

An interactive world model developed by NVIDIA in collaboration with academic partners. - DreamDojo turns egocentric human video data into physical intelligence. - Human data is more scalable than robotics data but lacks action labels. - To solve this, a dedicated action model extracts latent actions by identifying physics and motion deltas between frames. Training - A massive 44k hours of video data are used for pre-training. - Post-training on small-scale robot datasets maps human physics to specific robot embodiments. - An additional distillation stage converts the model into an autoregressive, few-step diffusion model, enabling real-time, action-controllable simulation. Primary Use Cases - Live Teleoperation: Controlling a robot inside a world simulation in real-time. - Model-based Planning: Previewing and curating the best actions for improved success. - Policy Evaluation: Testing robot policies in realistic, out-of-distribution scenarios. Everything that's open-sourced: weights, code, post-training dataset, eval set, and details to reproduce.

The Humanoid Hub

11,575 views • 4 months ago

Training a Whole-Body Control Foundation Model -- new work from my team at Agility Robotics A neural network for controlling our humanoid robots which is robust to disturbances, can handle heavy objects, and is a powerful platform for learning new whole-body skills learn more in our blog post ->

Training a Whole-Body Control Foundation Model -- new work from my team at Agility Robotics A neural network for controlling our humanoid robots which is robust to disturbances, can handle heavy objects, and is a powerful platform for learning new whole-body skills learn more in our blog post ->

Chris Paxton

45,068 views • 10 months ago

In the last month, we’ve been building an open-source framework for robot learning and sim-to-real transfer, made for RL whole-body control from simple walking to complex human imitation Check out the details on HN: Get started in 5 minutes ⬇️

In the last month, we’ve been building an open-source framework for robot learning and sim-to-real transfer, made for RL whole-body control from simple walking to complex human imitation Check out the details on HN: Get started in 5 minutes ⬇️

K-Scale Labs

75,983 views • 1 year ago

Got five papers accepted by #ECCV2024 European Conference on Computer Vision #ECCV2026 ! Huge thanks to all my collaborators! 😃 See you in Milan 🇮🇹 Summary of Selected Works (I made a fast-forward for them 😄) - [Shape Generation] Surf-D: Generating High-Quality Surfaces of Arbitrary Topologies Using Diffusion Models, ECCV 2024. - [Efficient Motion Generation] EMDM: Efficient Motion Diffusion Model for Fast, High-Quality Human Motion Generation, ECCV 2024. - [Controllable Motion Generation] TLControl: Trajectory and Language Control for Human Motion Synthesis, ECCV 2024. - [Avatar Generation] Disentangled Clothed Avatar Generation from Text Descriptions, ECCV 2024. Project Page: Surf-D: EMDM: TLControl: SOSMPL:

Zhiyang (Frank) Dou

18,182 views • 2 years ago

The AMO (Adaptive Motion Optimization) project, developed by researchers at UC San Diego, introduces a novel framework for enhancing the dexterity and adaptability of humanoid robots. This system integrates simulation-to-real reinforcement learning with trajectory optimization to achieve real-time, adaptive whole-body control Video Credit: USD #engineering #technology #robotics #robots

The AMO (Adaptive Motion Optimization) project, developed by researchers at UC San Diego, introduces a novel framework for enhancing the dexterity and adaptability of humanoid robots. This system integrates simulation-to-real reinforcement learning with trajectory optimization to achieve real-time, adaptive whole-body control Video Credit: USD #engineering #technology #robotics #robots

Wevolver

13,632 views • 1 year ago