MotionPyramid: Hierarchical Motion Representation and Residual Interfaces
We ask whether the representational hierarchy seen in perception, from local primitives such as edges to higher level structures such as parts and objects, can be established for motion. In humanoid control, low level actions specify immediate motor commands, while meaningful behavior is organized over longer temporal scales, including contacts, gait fragments, balance recovery, reaching, and whole body skills. We introduce MotionPyramid, a hierarchical action representation that learns such structure from motion data. Starting from a motion tracking teacher, it trains a recursive stack of latent decoders: low level latents decode to immediate full body motor commands, while higher level ...
| Authors | Gao Zhu, Zaishuo Xia, Yubei Chen |
|---|---|
| Primary category | cs.CV |
| Published | 15 June 2026 |
| Last updated at source | 15 June 2026 |
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