arXiv (OAI Expanded)
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PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
Humanoid robots are expected to execute agile and expressive whole-body motions in real-world settings. Existing text-to-motion generation models are predominantly trained on captured human motion datasets, whose priors assume human biomechanics, actuation, mass distribution, and contact strategies.
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