BeyondMimic: Versatile Humanoid Control via Guided Diffusion
CyberRobooo · x · 2026-09-01
BeyondMimic is a framework learning from human motions for versatile humanoid control via guided diffusion. It features a scalable motion tracking pipeline that faithfully reproduces dynamic skills like jumping spins and cartwheels on real hardware. It also introduces a unified diffusion policy enabling zero-shot task-specific control (waypoint navigation, teleoperation, obstacle avoidance) using simple cost functions at test time. The system has been demonstrated on the Unitree G1 performing fluid aerial flips and 360° spinning kicks.
Related event: BeyondMimic Enables Unitree G1 to Master Dynamic Skills in the Wild(2 posts)→
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