Xingyu Lai

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.