Preprint
Oct 2026
HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion
Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these comp...
M. Zhang, Dong-Ho Kang, Kevin Bergamin et al.
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