MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking

Hugging Face Daily Papers Papers

Summary

MimicX introduces policy-in-the-loop supervision refinement for video-driven humanoid motion tracking, enabling robots to execute human motions (tennis, football juggling, dance, kung fu, parkour) captured from ordinary video demonstrations, including in collision scenes.

Human videos provide rich motion targets for humanoid learning, yet visually plausible references can still produce persistent failures under physics-based execution. These failures reveal where training supervision should change. We present MimicX, a policy-in-the-loop framework that uses execution feedback to refine video-driven humanoid motion tracking. Starting from reconstructed and retargeted motion, MimicX localizes difficult transitions and affected body regions, then jointly adapts tracking objectives and the reset curriculum for policy continuation. Repeated rollout verification selects execution-priority improvements subject to tracking guards. Across four core video tasks, MimicX consistently improves tracking accuracy and Robust Execution Horizon relative to the Fixed Reference baseline. Task-averaged results show a 25.7% reduction in body-tracking error and a 255.6% increase in execution horizon. Additional video, motion-reference, and collision-scene studies evaluate the method beyond the core tasks, while MimicX-HLoop accelerates feedback through heterogeneous execution. Overall, MimicX turns policy failure into actionable supervision for deciding what to refine and which refinement to retain.
Original Article
View Cached Full Text

Cached at: 10/15/26, 07:03 AM

Paper page - MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking

Source: https://huggingface.co/papers/2610.09055

https://huggingface.co/papers/2610.09055#more-videos-from-human-motion-to-robot-executionMore videos: from human motion to robot execution

Explore more of MimicX below: full input-to-policy sequences, collision-scene execution, and detailed motion visualizations. The four-task, five-method comparison reel is in the main gallery above.

https://huggingface.co/papers/2610.09055#four-skills-from-input-to-executionFour skills, from input to execution

Tennis Swing, Football Juggling, Dance Sequence, and Kung Fu: human demonstrations alongside recorded MimicX execution.

https://huggingface.co/papers/2610.09055#execution-in-collision-scenesExecution in collision scenes

Human source clips and learned Forest Traversal and Stair Ascent execution in task-equivalent scenes.

https://huggingface.co/papers/2610.09055#football-motion-in-a-registered-stadiumFootball motion in a registered stadium

Recorded robot motion placed in the stadium scene, with presentation props.

https://huggingface.co/papers/2610.09055#foot-ball-contact-in-slow-motionFoot-ball contact, in slow motion

A physical-contact excerpt driven by recorded robot motion, shown at one-quarter speed.

https://huggingface.co/papers/2610.09055#parkour-executionParkour execution

The selected locally retimed Parkour recording.

https://huggingface.co/papers/2610.09055#the-video-to-policy-loopThe video-to-policy loop

The video-to-policy loop

https://huggingface.co/papers/2610.09055#repeated-verification-and-hloopRepeated verification and HLoop

Repeated verification and HLoop

https://huggingface.co/papers/2610.09055#kung-fu-video-to-execution-stagesKung Fu: video-to-execution stages

Kung Fu: video-to-execution stages

https://huggingface.co/papers/2610.09055#tennis-motion-panoramaTennis motion panorama

Tennis motion panorama

https://huggingface.co/papers/2610.09055#football-motion-panoramaFootball motion panorama

Football motion panorama

https://huggingface.co/papers/2610.09055#tennis-in-the-court-sceneTennis in the court scene

Tennis in the court scene

https://huggingface.co/papers/2610.09055#football-in-the-stadium-sceneFootball in the stadium scene

Football in the stadium scene

https://huggingface.co/papers/2610.09055#five-collision-scene-examplesFive collision-scene examples

Source and recorded execution snapshots across five scenes.

Five collision-scene examples

Project page and videos|Code|Pretrained policies|Motion assets

Similar Articles

ActiveMimic: Egocentric Video Pretraining with Active Perception

Hugging Face Daily Papers

ActiveMimic is a pretraining framework that recovers camera and wrist trajectories from egocentric human video to model active perception as a viewpoint action, enabling robot pretraining that matches the performance of models trained directly on robot data.

Flux 3 X Mimic: The Next Generation of Video-Action Models

Hacker News Top

Black Forest Labs announces FLUX 3, a multimodal foundation model that jointly generates audio-visual content and, via collaboration with mimic robotics, enables video-action prediction for robot control, tested at Audi.