Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data

[Website] [Arxiv]

Yixuan Pan^1*, Ruoyi Qiao^4*, L. Chen¹, K. Chitta², L. Pan¹, H.Mai¹, Q. Bu¹, C. Zheng⁴, H. Zhao³, P. Luo¹, H. Li¹

*Equal Contribution

¹The University of Hong Kong, ²NVIDIA, ³Tsinghua University, ⁴Individual Contributor

                     

TODOs

Note: we re-implement the AMS code for 29dof G1 humanoid.

• Release MotionGen: a sample-based scalable balance motion generator
• Synthetic Balance Motion Datasets
• Release training and evaluation code
• Release Sim2Sim code
• Release deployment code

Citation

@article{pan2025ams,
  title={Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data},
  author={Pan, Yixuan and Qiao, Ruoyi and Chen, Li and Chitta, Kashyap and Pan, Liang and Mai, Haoguang and Bu, Qingwen and Zheng, Cunyuan and Zhao, Hao and Luo, Ping and Li, Hongyang},
  journal={arXiv preprint arXiv:2511.17373},
  year={2025}
}

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.