Author

Xing-Yu Lai

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Preprint Aug 2026

DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model

A framework that distills privileged teacher policies into vision-based humanoid controllers via world-model-assisted distillation, and introduces Performance-Conditioned Guidance (PCG), a reward-driven adaptive distillation schedule that computes performance scores for both teacher and student to dynamically balance guidance and exploration.

Jie Yin, Xingyu Lai · 0 citations