Multi-Modal Mimic (M3imic

M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking

Announce Type: new Abstract: Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomotion and loco-manipulation. Different tasks rely on distinct motion reference modalities: locomotion primarily depends on coordinated robot joint trajectories, whereas manipulation requires precise end-effector trajectory tracking. Existing methods often overlook the representational...