Preprint
Aug 2026
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior
StableMimic is presented, a unified tracker trained beyond the nominal tracking distribution that achieves the lowest errors on all four tracking metrics among five methods and attains the lowest values on six of seven post-fall motion and load measures, supporting improved interaction safety under this protocol.
Weihao Wu, Mingzhe Huang, Ruofei Liu et al.
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