Preprint Open access
InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation
Captured human-object interactions provide rich supervision for humanoid loco-manipulation, but they are sparse, heterogeneous, and not directly executable by robots. We introduce InterMimicGen, a self-evolving motion-imitation framework in which robot motion data and a tracking policy improve each other. First, we con …