Article
A General Control Policy for Humanoid Robots Based on Whole-Body Motion Tracking: Closed-Loop Validation of the SONIC Method on G1 in MuJoCo
Guyuehome
The SONIC method performs deterministic closed-loop runs in MuJoCo simulation on released checkpoints for the G1 humanoid robot, reproducing general control with whole-body motion tracking as the base task. The method unifies motion representation, adopts a tokenized conditional policy and Gaussian kernel rewards, and presents real footage and error metrics for multiple skill entries.
Part of the event: Reproduction of SONIC humanoid robot control method with G1 closed-loop validation in MuJoCo
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