MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking
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.
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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
https://huggingface.co/papers/2610.09055#repeated-verification-and-hloopRepeated verification and HLoop
https://huggingface.co/papers/2610.09055#kung-fu-video-to-execution-stagesKung Fu: video-to-execution stages
https://huggingface.co/papers/2610.09055#tennis-motion-panoramaTennis motion panorama
https://huggingface.co/papers/2610.09055#football-motion-panoramaFootball motion panorama
https://huggingface.co/papers/2610.09055#tennis-in-the-court-sceneTennis in the court scene
https://huggingface.co/papers/2610.09055#football-in-the-stadium-sceneFootball 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.
Project page and videos|Code|Pretrained policies|Motion assets
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