Author

Valerio Modugno

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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. · 0 citations