https://exbody2.github.io/

 
Related Research
Expressive Humanoid

Exbody2:
Advanced Expressive Humanoid Whole-Body Control

Mazeyu Ji*             Xuanbin Peng*             Fangchen Liu
             Jialong Li            
Ge Yang             Xuxin Cheng             Xiaolong Wang

[UCSanDiegoLo] [ucb-logo] [mit-] [nv]

Paper arXiv 1x Videos Bilibili

Expressive Whole-body Mimic

Side Stepping

Waltz Dance


Walking Indoor

Walking Outdoor


Pacing Around Outdoor

Pacing Around Indoor


Dancing - Waving Arms

Dancing - Draw Circles


Crouching

Punching

Body Hook Right

Squat, stand, wave hands

Whole-body Tracking Performance








Real-time Whole-body Mimic

Realtime pose estimation code is from HybrIK





Holding Box

Simulation Results

Unitree H1

Unitree G1

Abstract

This paper enables real-world humanoid robots to maintain stability
while performing expressive motions like humans do. We propose Exbody
2, a generalized whole-body tracking framework that can take any
reference motion inputs and control the humanoid to mimic the motion.
The model is trained in simulation with Reinforcement Learning and
then transferred to the real world. It decouples keypoint tracking
with velocity control, and effectively leverages a privileged teacher
policy to distill precise mimic skills into the target student
policy, which enables high-fidelity replication of dynamic movements
such as running, crouching, dancing, and other challenging motions.
We present a comprehensive qualitative and quantitative analysis of
crucial design factors in the paper. We conduct our experiments on
two humanoid platforms and demonstrate the superiority of our
approach against state-of-the-arts, providing practical guidelines to
pursue the extreme of whole-body control for humanoid robots.

Team

Mazeyu Ji

Mazeyu Ji*

Xuxin Cheng

Xuanbin Peng*

Jialong Li

Fangchen Liu

Jialong Li

Jialong Li

Ge Yang

Ge Yang

Xuxin Cheng

Xuxin Cheng

Xiaolong Wang

Xiaolong Wang

BibTeX

@article{ji2024exbody2,
  title={ExBody2: Advanced Expressive Humanoid Whole-Body Control},
  author={Ji, Mazeyu and Peng, Xuanbin and Liu, Fangchen and Li, Jialong and Yang, Ge and Cheng, Xuxin and Wang, Xiaolong},
  journal={arXiv preprint arXiv:2412.13196},
  year={2024},
  }