PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation
Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors. In this work, we revisit humanoid motion imitation from the perspective of physical grounding and leverage pressure as a unified modality across perception and control. We present PressMimic, a framework that integrates pressure into the full pipeline from motion capture to humanoid control. In the perception stag...
| Authors | Yi Lu, Shenghao Ren, Tianyu Xiong et al. |
|---|---|
| Primary category | cs.RO |
| Published | 25 June 2026 |
| Last updated at source | 25 June 2026 |
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