HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion
Overview
HuMBLE is a learning framework that synthesizes real-time, steerable, and robust locomotion policies for humanoid robots using human motion data. Validated on three robots, it demonstrates robust performance and whole-body behavior reconstruction from steering commands.
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- arXiv Robotics — research abstractsHuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion
This research introduces HuMBLE, a learning framework that synthesizes real-time, steerable, and robust locomotion policies for humanoid robots by balancing command tracking and generalization from human motion data. The framework is validated on three humanoid robots, demonstrating robust performance in real-world scenarios and the ability to reconstruct coordinated whole-body behavior from a steering command.
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