LangWBC maps text commands and proprioceptive history directly to humanoid actions via a conditional variational autoencoder distilled from an RL teacher, enabling diverse, smoothly transitioning whole-body motions on a real Unitree G1.
Flexible motion in- betweening with diffusion models
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LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
LangWBC maps text commands and proprioceptive history directly to humanoid actions via a conditional variational autoencoder distilled from an RL teacher, enabling diverse, smoothly transitioning whole-body motions on a real Unitree G1.