Article

DiffWBC: One-step diffusion model enables steerable humanoid whole-body motion tracking

DiffWBC proposes replacing deterministic policies with a one-step diffusion model for general humanoid motion tracking, requiring only one forward inference per 50 Hz control step, achieving a local tracking error of 20.1 mm on the BONES benchmark, and deployed on a physical Unitree G1.

Part of the event: DiffWBC: One-Step Diffusion for Humanoid Whole-Body Motion Tracking

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