Preprint
Jul 2026
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation
A three-stage pipeline that turns motion-imitation skills into a reusable hybrid motion prior (HMP) for humanoid locomotion and shows that training the codebook with the rotation trick improves latent organization and reduces downstream falls compared with a standard straight-through estimator.
Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman et al.
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