ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control

arXiv:2609.28378 · cs.RO, cs.CR, cs.LG · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.CR, cs.LG

Submitted: 2026-09-23

Updated: 2026-09-23

Code: https://github.com/Zili1000/ForgetMimic

Terminology

• Reinforcement Learning — 14× in this paper · explained in 4 episodes
• Fine-Tuning — 10× in this paper · explained in 5 episodes
• Machine Unlearning — 8× in this paper · explained in 2 episodes
• Assistive Wrench — 7× in this paper
• Actor — 4× in this paper · explained in 3 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Reference State Initialization — 4× in this paper
• Regularization — 4× in this paper · explained in 3 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Catastrophic Forgetting — 3× in this paper · explained in 5 episodes
• Core — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Differentially Private — 2× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• General Data Protection Regulation — 2× in this paper
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• ACM Transactions on Graphics — 1× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Approximate Unlearning — 1× in this paper · explained in 1 episode
• Federated Learning — 1× in this paper · explained in 14 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• In Network and Distributed System Security Symposium — 1× in this paper
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• VLALeaks: Membership Inference Attacks against Vision-Language-Action Models
• TOUR: A Trajectory-Level Unlearning Benchmark for Offline Reinforcement Learning
• Proximal Policy Optimization Algorithms
• OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving