William D. Compton

Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators

General purpose humanoids require locomotion controllers that are multi-skill, perceptive, dynamic, and robust enough to go anywhere humans can. In this work, we present a two layer locomotion architecture: (1) a perceptive flow matching motion generator plans whole body trajectories from raw depth images while a (2) p...